Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Ammar Al-Jodah; Laith Khames

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Publication Date

Sun Jan 14 2018

Journal Name

Journal Of Engineering

Volume

24

Issue Number

1

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Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

PAM

Sliding Mode Controller.

Ammar Al-Jodah

Laith Khames

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In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

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Publication Date

Sun Oct 29 2023

Journal Name

Iraqi National Journal Of Nursing Specialties

General Social Function for Elderly in Geriatric Homes in Jordan

Social Functioning of the elderly

Geriatric Homes

Nazar A. Sherin

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Objectives: To assess general social factors for elderly in geriatric homes in Jordan.
Methodology: The study was conducted for clients residing in elderly homes. A purposive sample of (155)
residents were selected. Social resource scale by (Duck University Center) called (OARA) older adult resources
and services was used as tool for data collection. The questions extract data about family structure, patterns of
friends and visiting, availability of a confident, satisfaction with the degree of social interaction and availability
of a helper in the event of illness or disability and the program of trips in the houses.
Results: The findings revealed that the life expectancy for women is greater than for men. In respect to

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Publication Date

Fri Sep 30 2022

Journal Name

Iraqi Journal Of Chemical And Petroleum Engineering

Polyacrylamide Polymer Gel Systems for Conformance Control Technology: A Review

Polyacrylamide

In-situ gel

preformed particle gel

Conformance control

Ali

Faleh H. M.

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Low oil extraction and early high water production are caused in part by reservoir heterogeneity. Huge quantities of water production are prevalent issues that happen in older reservoirs. Polyacrylamide polymer gel systems have been frequently employed as plugging agents in heterogeneous reservoirs to regulate water output and increase sweep efficiency. Polyacrylamide polymer gel systems are classified into three classes depending on their composition and application conditions, which are in-situ monomer gel, in-situ polymer gel, and preformed particle gel (PPG).

This paper gives a comprehensive review of PPG’s status, preparation, and mechanisms. Many sorts of PPGs are categorized, for example, millimeter-sized preformed p

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(2)

Publication Date

Sat Dec 01 2018

Journal Name

Ain Shams Engineering Journal

A semi-analytical iterative method for solving differential algebraic equations

Majeed

Sinan

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(8)

Publication Date

Tue Mar 20 2018

Journal Name

Offshore Technology Conference Asia

Prediction of Hydrate Phase Equilibrium Conditions for Different Gas Mixtures

new correlation

hydrate equilibrium temperature

correlation

prediction

gas mixture

hammerschmidt

phase equilibria

artificial intelligence

upstream oil & gas

hydrate

Dhifaf Jaafar

Stefan

Maxim

Ahmed

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Abstract<p>Gas hydrate formation poses a significant threat to the production, processing, and transportation of natural gas. Accurate predictions of gas hydrate equilibrium conditions are essential for designing the gas production systems at safe operating conditions and mitigating the problems caused by hydrates formation. A new hydrate correlation for predicting gas hydrate equilibrium conditions was obtained for different gas mixtures containing methane, nitrogen and carbon dioxide. The new correlation is proposed for a pressure range of 1.7-330 MPa, a temperature range of 273-320 K, and for gas mixtures with specific gravity range of 0.553 to 1. The nonlinear regression technique was applie</p> ... Show More

(6)

Publication Date

Fri Feb 18 2022

Journal Name

Coatings

Non-Polar Gallium Nitride for Photodetection Applications: A Systematic Review

gallium nitride

non-polar

photodetector

systematic review

UV

Omar

Ahmad

Nafarizal

Adreen

Anas

Omar

Mustafa

Estabraq T.

Yong

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Ultraviolet photodetectors have been widely utilized in several applications, such as advanced communication, ozone sensing, air purification, flame detection, etc. Gallium nitride and its compound semiconductors have been promising candidates in photodetection applications. Unlike polar gallium nitride-based optoelectronics, non-polar gallium nitride-based optoelectronics have gained huge attention due to the piezoelectric and spontaneous polarization effect–induced quantum confined-stark effect being eliminated. In turn, non-polar gallium nitride-based photodetectors portray higher efficiency and faster response compared to the polar growth direction. To date, however, a systematic literature review of non-polar gallium nitride-

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(17)

(18)

Publication Date

Fri Jan 01 2021

Journal Name

International Journal Of Drug Delivery Technology

Transethosomes a novel transdermal drug delivery system for antifungal drugs

Mohammed B.S.

Fatima

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(9)

Publication Date

Tue Mar 30 2021

Journal Name

Journal Of Interdisciplinary Mathematics

Exactness for complex sequence in the skew shape (8,8)/(1,0)

Hassan H.R.

Niran

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(14)

(6)

Publication Date

Fri Jan 01 2021

Journal Name

Ieee Access

DNA Encoding and STR Extraction for Anomaly Intrusion Detection Systems

DNA

intrusion detection

Knuth-MorrisPratt

short tandem repeat

Teiresias algorithm.

Omar Fitian

Zulaiha Ali

Suhaila

Noor Azah

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(9)

(7)

Publication Date

Fri Jun 30 2017

Journal Name

Iraqi Journal Of Chemical And Petroleum Engineering

Preparation of PPSU Hollow Fiber Nanofiltration Membranes for Nanofiltration Application

PPSU

hollow fiber membrane

nanofiltration

morphology

heavy metals removal.

Bashir Y.

Areej D.

Hussein A.

Thamer J.

Qusay F.

Thamera

Lamees H.

Hamsa

Remonda H.

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PPSU hollow fiber nanofiltration membranes are prepared by applying two concentrations and various extrusion pressures according to the phase inversion method. Cross-sectional area and outer structures were characterized by using scanning electron microscope (SEM) and atomic force microscopy (AFM). In additional to the pore size distribution, either the mean roughness or the mean pore size of the PPSU hollow fiber surfaces was evaluated by AFM. It was found that the morphology of the PPSU fibers had both sponge-like and finger-like structures through different extrusion pressures and PPSU concentrations. The mean pore size and mean roughness for inner and outer surfaces were seen to be decreased with the increase of extrusion pressure at

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Publication Date

Sat May 01 2021

Journal Name

Journal Of Physics: Conference Series

Equivalence of Some Iterations for Class of Quasi Contractive Mappings

Zena Hussein

Ali Qasem

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Abstract<p>In this article, we recalled different types of iterations as Mann, Ishikawa, Noor, CR-iteration and, Modified SP_iteration of quasi δ-contraction mappings, and we proved that all these iterations equivalent to approximate fixed points of δ-contraction mappings in Banach spaces.</p>

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