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

Tue Jan 01 2013

Journal Name

Thesis

User Authentication Based on Keystroke Dynamics Using Artificial Neural Networks

Mays M. Hoobi

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Computer systems and networks are being used in almost every aspect of our daily life, the security threats to computers and networks have increased significantly. Usually, password-based user authentication is used to authenticate the legitimate user. However, this method has many gaps such as password sharing, brute force attack, dictionary attack and guessing. Keystroke dynamics is one of the famous and inexpensive behavioral biometric technologies, which authenticate a user based on the analysis of his/her typing rhythm. In this way, intrusion becomes more difficult because the password as well as the typing speed must match with the correct keystroke patterns. This thesis considers static keystroke dynamics as a transparent layer of t

Publication Date

Tue Dec 01 2015

Journal Name

Journal Of Engineering

Modeling and Control of Fuel Cell Using Artificial Neural Networks

fuel cell

hydrogen fuel

renewable energy

artificial neural networks

PID

Particle swarm optimization

Hayder Sabah

Hayder

Eiman Ali Eh.

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This paper includes an experimental study of hydrogen mass flow rate and inlet hydrogen pressure effect on the fuel cell performance. Depending on the experimental results, a model of fuel cell based on artificial neural networks is proposed. A back propagation learning rule with the log-sigmoid activation function is adopted to construct neural networks model. Experimental data resulting from 36 fuel cell tests are used as a learning data. The hydrogen mass flow rate, applied load and inlet hydrogen pressure are inputs to fuel cell model, while the current and voltage are outputs. Proposed model could successfully predict the fuel cell performance in good agreement with actual data. This work is extended to developed fuel cell feedback

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Publication Date

Wed Nov 01 2023

Journal Name

Al-rafidain Journal Of Medical Sciences ( Issn 2789-3219 )

After Introducing Artificial Intelligence, can Pharmacists Still Find a Job?

Ehab

Samer

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(1)

Publication Date

Fri Aug 01 2008

Journal Name

2008 International Symposium On Information Technology

Generating pairwise combinatorial test set using artificial parameters and values

Mohammed I.

Kamal Z.

Nor Ashidi Mat

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(5)

(1)

Publication Date

Sat May 31 2025

Journal Name

3rd International Scientific Conference For Human And Social Studies And Epistemological Challenges

Frankenstein Complex in Daniel H. Wilson's Robopocalypse ( ): Artificial Intelligence Conspiracies

With the advent of technology

the fear of losing control has consistently accompanied humanity. While humans have discovered

invented

and created many remarkable things

they have also been haunted by the possibility of their creations turning against them. This fear

often referred to as the Frankenstein Complex

derives its name from Mary Shelley's Frankenstein (􀀔􀀛􀀔􀀛)

in which Dr. Frankenstein's creation ultimately destroys its maker. The Frankenstein Complex embodies the subconscious fear of artificial intelligence (AI) surpassing and potentially dominating humankind. This apprehension has inspired numerous literary works

including Daniel H. Wilson’s novels. The present study examines the widespread fear of AI

which has fueled conspiracy theories in literature. These theories have not only amplified public anxiety but also hindered understanding among those with limited knowledge of AI and robotics. Dr. Wilson

a robotics expert

uses his imagination as a driving force for both his writing and his inventions. The research focuses on incidents leading to the rise of robots

the concept of the New War

how it was fought

and how it concluded. By comparing

contrasting

and analyzing literary elements and devices with prominent conspiracy theories

the study highlights the interplay between fiction and scientific development. The researchers conclude that while many conspiracy theories contain elements of truth

they often inspire scientists to explore them further. Additionally

some conspiracy theories warrant serious consideration. The study recommends acknowledging the Frankenstein Complex while maintaining faith in the potential benefits of artificial intelligence.

Ansam

Mayada

Zahraa

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Publication Date

Mon Jul 03 2017

Journal Name

Iraqi New Medical Journal

Coarctation of aorta in pediatric age group: mode of presentation, early and intermediate outcomes of interventional treatment

munaf j yaseen

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Although rare, coarctation of aorta is a treatable cause of hypertension, transcatheter dilatation by balloon with or without stent are a well-known treatment strategy

Publication Date

Sun Jan 01 2006

Journal Name

Dermatology Online Journal

Lactic acid 5 percent mouthwash is an effective mode of therapy in treatment of recurrent aphthous ulcerations

Adil A Al-Nuaimy

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KE Sharquie, SM Al-Tammimy, S Al-Mashhadani, RK Hayani, AA Al-Nuaimy, Dermatology online journal, 2006 - Cited by 34

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Publication Date

Tue Mar 02 2021

Journal Name

Sustainability

Effect of Twisted Fin Array in a Triple-Tube Latent Heat Storage System during the Charging Mode

Mohammad

Jasim M.

Amirhossein

Amir Hossein

Obai

Pouyan

Wahiba

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This study aims to assess the effect of adding twisted fins in a triple-tube heat exchanger used for latent heat storage compared with using straight fins and no fins. In the proposed heat exchanger, phase change material (PCM) is placed between the middle annulus while hot water is passed in the inner tube and outer annulus in a counter-current direction, as a superior method to melt the PCM and store the thermal energy. The behavior of the system was assessed regarding the liquid fraction and temperature distributions as well as charging time and energy storage rate. The results indicate the advantages of adding twisted fins compared with those of using straight fins. The effect of several twisted fins was also studied to discover

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(33)

Publication Date

Thu Sep 01 2016

Journal Name

Journal Of Engineering

Application of Artificial Neural Network for Predicting Iron Concentration in the Location of Al-Wahda Water Treatment Plant in Baghdad City

Iron

ANN model

Tigris River

Water treatment plant

Al-Wahda.

Nawar Omran Ali

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Iron is one of the abundant elements on earth that is an essential element for humans and may be a troublesome element in water supplies. In this research an AAN model was developed to predict iron concentrations in the location of Al- Wahda water treatment plant in Baghdad city by water quality assessment of iron concentrations at seven WTPs up stream Tigris River. SPSS software was used to build the ANN model. The input data were iron concentrations in the raw water for the period 2004-2011. The results indicated the best model predicted Iron concentrations at Al-Wahda WTP with a coefficient of determination 0.9142. The model used one hidden layer with two nodes and the testing error was 0.834. The ANN model coul

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Publication Date

Sun Mar 01 2020

Journal Name

Sustainable Chemistry And Pharmacy

A sustainable approach to utilize olive pips for the sorption of lead ions: Numerical modeling with aid of artificial neural network

Ayad A.H.

Zahraa S.

Laith A.

Mu.

Tansir

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