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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Sun Oct 19 2025

Journal Name

Lecture Notes In Networks And Systems

Utilizing Artificial Intelligence Tools in Enhancing Training of Trainers (ToT) Programs: Modern Approaches and Practical Applications

Bilal Hameed

Anfal Sabeeh

Arkan Saeed

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Fri Jan 01 2021

Journal Name

Environmental Pollution

Prediction of sediment heavy metal at the Australian Bays using newly developed hybrid artificial intelligence models

Suraj Kumar

Tiyasha

Salih

Tran Minh

Ali H.

Zaher Mundher

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Publication Date

Sun Jan 01 2023

Journal Name

Journal Of Robotics And Control (jrc)

Artificial Intelligence Based Deep Bayesian Neural Network (DBNN) Toward Personalized Treatment of Leukemia with Stem Cells

Deep Bayesian Neural Network (DBNN)

Leukemia stem cells (LSC)

Convolution neural network (CNN)

Artificial intelligence (AI)

Personalized treatment

Abdulsahib A.K.

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The dynamic development of computer and software technology in recent years was accompanied by the expansion and widespread implementation of artificial intelligence (AI) based methods in many aspects of human life. A prominent field where rapid progress was observed are high‐throughput methods in biology that generate big amounts of data that need to be processed and analyzed. Therefore, AI methods are more and more applied in the biomedical field, among others for RNA‐protein binding sites prediction, DNA sequence function prediction, protein‐protein interaction prediction, or biomedical image classification. Stem cells are widely used in biomedical research, e.g., leukemia or other disease studies. Our proposed approach of

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Publication Date

Wed Jun 29 2022

Journal Name

Journal Of The College Of Education For Women

The Degree to which Islamic Education Teachers Employ the Strategy of Directed Discovery in Teaching to Develop Higher-Order Thinking Skills

Development

directed discovery strategy

employing

higher thinking skills

Islamic education teachers

Mohammed Yousif Ahmed Elsanosi

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The study aimed to know the degree to which Islamic education teachers employ the strategy of directed discovery in teaching to develop higher thinking skills (analysis, synthesis, and evaluation) among sixth-grade students at the basic stage in East Nile Province, Khartoum State - Sudan. The researcher used the descriptive-analytical method, and adopted a questionnaire that consisted of (15) indicators representing the skills of analysis, synthesis, and evaluation as a tool of the study. A random sample of (175) Islamic education teachers was selected, from the Department of Basic Education. The data were analyzed according to the Statistical Packages for Social Sciences (SPSS) program, and the results of the study have shown that the u

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Publication Date

Mon Jun 01 2009

Journal Name

Journal Of Economics And Administrative Sciences

Use of lower squares and restricted boxes In the estimation of the first-order self-regression parameter AR (1) (simulation study)

المربعات الصغرى والمربعات الصغرى المقيدة

: Small squares and restricted boxes

محمد جاسم

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Use of lower squares and restricted boxes
In the estimation of the first-order self-regression parameter
AR (1) (simulation study)

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Publication Date

Mon Oct 01 2018

Journal Name

Xlinguae

The three-level phono-grammar order and its derivational connecting link: the elements of language system (on the material of Arabic)

Raheem Ali

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Publication Date

Tue Jan 06 2004

Journal Name

Iraqi Journal Of Science

Cluster and factor analyses R and Q mode technique of geochemical and petrological data of the Shalair Metamorphic Rock Group, Shalair Valley area, Northeastern Iraq

Salih

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Publication Date

Tue Jun 01 2021

Journal Name

Iop Conference Series: Earth And Environmental Science

Simulation of Syngas Addition Effect on Emissions Characteristics, Combustion, and Performance of the Diesel Engine Working under Dual Fuel Mode and Lambda Value of 1.6.

Hussein A.

Ali O.

Osam H.

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Abstract<p>The present work aims to study the combustion characteristics related to syngas-diesel dual-fuel engine operates at lambda value of 1.6 operated by five different replacement ratios (RR) of syngas with diesel, which are (10%, 20%, 30 %, 40 % and 50%). ANSYS Workbench (CFD) was used for simulating the combustion of the syngas-diesel dual-fuel engine. The numerical simulations were carried out on the Ricardo-Hydra diesel engine. The simulation results revealed that the diesel engine’s combustion efficiency was enhanced by increasing the diesel replacement with Syngas fuel. The diesel engine’s combustion efficiency The peak in-cylinder temperature was enhanced from 915.9K to 2790.5K </p> ... Show More

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Publication Date

Wed Jan 01 2020

Journal Name

Ieee Access

Smart Routing Management Framework Exploiting Dynamic Data Resources of Cross-Layer Design and Machine Learning Approaches for Mobile Cognitive Radio Networks: A Survey

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Publication Date

Wed Oct 31 2018

Journal Name

Al-kindy College Medical Journal

Peers Pressure And Families Smoking Habit Influence On Smoking Behavior among male Students attending Secondary Schools At second Al- Kurkh education Directorate /Baghdad.

peer pressure

family smoking habit

cigarette

shisha

secondary schools

students.

Abbas Fadhal

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Background: There is a strong desire of adolescent to have a peer group and to be appreciated and also to become a member of this group which can affect one each other. There for; encourage, adapting,and imitating of friends and group consider as the main reasons behind starting of smoking among youngsters. Smoking habits in the family were found tobe acause of smoking pressure among adolescentas peer pressure. Smoking habit may be started before 18 years of age in most adult smokers.

Objectives: To study the effect of peer pressure and family smoking habiton the prevalence of smoking among secondary school students.

Type of the study: A cross

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