Preferred Language
Articles
/
joe-970
Robust Adaptive Sliding Mode Controller for a Nonholonomic Mobile Platform
...Show More Authors

In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform and the desired path. The dynamic error model was considered uncertain and subjected to friction torques on the wheels. The adaptive sliding mode control was utilized to design a robust controller, that will force the platform to follow the desired trajectory. The simulation of the proposed controller was done via MATLAB to reveal the ability of the robust adaptive sliding mode controller applied as a trajectory tracker for various path shapes.

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Apr 02 2006
Journal Name
Journal Of The Faculty Of Medicine Baghdad
CEA, CA19-9 & A-FP as tumor markers for colorectal carcinoma
...Show More Authors

Background:

View Publication Preview PDF
Publication Date
Tue Nov 30 2021
Journal Name
Iraqi Journal Of Science
A Theoretical Study for Designing Optical Multilayer Films Using NdF3/ ThF4
...Show More Authors

An idea of a colored glaze is presented in this study to hide and dispose all the obstacles of using solar systems as facades integrated with buildings. This aim is achieved  by designing multilayer optical interference filters by using Mat lab program . Appropriate dielectric materials, namely NdF3 of high refractive index (nH =1.6)  and ThF4 of low refractive index (nL =1.5143) were employed. Quarter wave thicknesses of high (H) and low (L) refractive index were deposited on a microscopic slide substrate with n=1.513 and 550 nm design wavelength (l°). Two optical models were designed, which are Air//HL//glass and Air//LH//glass,  for even numbers of layers (2-32 lay

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Sun Jun 06 2010
Journal Name
Baghdad Science Journal
Charge density distributions for odd-A of 2s-1d shell nuclei
...Show More Authors

An analytical expression for the charge density distributions is derived based on the use of occupation numbers of the states and the single particle wave functions of the harmonic oscillator potential with size parameters chosen to reproduce the observed root mean square charge radii for all considered nuclei. The derived expression, which is applicable throughout the whole region of shell nuclei, has been employed in the calculations concerning the charge density distributions for odd- of shell nuclei, such as and nuclei. It is found that introducing an additional parameters, namely and which reflect the difference of the occupation numbers of the states from the prediction of the simple shell model leads to obtain a remarkabl

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Aug 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
A conceptual Framework For the Relationship between Human and Social Capital
...Show More Authors

Purpose: The research seeks to develop the implications of intellectual human capital, and social capital in business organizations, and will be accomplished on three levels, the first level (the level of description) to identify, diagnose and display content philosophical Strategic Human Resource Management at the thought of modern administrative represented by human capital and Ras social capital. The second level (level of analysis) and the analysis of the extent of the impact of alignment between human capital, and social capital in the organizational strength of the organizations. The third level (Level predict) the formulation of a plan to strengthen the organizational strength in business organizations and to develop speci

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Detection capability Alttafaria for some materials using a bacterial mutagenesis system
...Show More Authors

Tested effective Alttafaria some materials used for different purposes, system a bacterial mutagenesis component of three bacterial isolates belonging to different races and materials tested included drug Briaktin

View Publication Preview PDF
Publication Date
Thu Oct 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Iterative Method for Solving a Nonlinear Fourth Order Integro-Differential Equation
...Show More Authors

This study presents the execution of an iterative technique suggested by Temimi and Ansari (TA) method to approximate solutions to a boundary value problem of a 4th-order nonlinear integro-differential equation (4th-ONIDE) of the type Kirchhoff which appears in the study of transverse vibration of hinged shafts. This problem is difficult to solve because there is a non-linear term under the integral sign, however, a number of authors have suggested iterative methods for solving this type of equation. The solution is obtained as a series that merges with the exact solution. Two examples are solved by TA method, the results showed that the proposed technique was effective, accurate, and reliable. Also, for greater reliability, the approxim

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Feb 15 2024
Journal Name
Journal Of Theoretical And Applied Information Technology
CHOOSING THE RIGHT CHAOTIC MAP FOR IMAGE ENCRYPTION: A DETAILED EXAMINATION
...Show More Authors

This article investigates how an appropriate chaotic map (Logistic, Tent, Henon, Sine...) should be selected taking into consideration its advantages and disadvantages in regard to a picture encipherment. Does the selection of an appropriate map depend on the image properties? The proposed system shows relevant properties of the image influence in the evaluation process of the selected chaotic map. The first chapter discusses the main principles of chaos theory, its applicability to image encryption including various sorts of chaotic maps and their math. Also this research explores the factors that determine security and efficiency of such a map. Hence the approach presents practical standpoint to the extent that certain chaos maps will bec

... Show More
View Publication
Scopus
Publication Date
Sun Jan 16 2022
Journal Name
Iraqi Journal Of Science
A Multi-Objective Evolutionary Algorithm based Feature Selection for Intrusion Detection
...Show More Authors

Nowad ays, with the development of internet communication that provides many facilities to the user leads in turn to growing unauthorized access. As a result, intrusion detection system (IDS) becomes necessary to provide a high level of security for huge amount of information transferred in the network to protect them from threats. One of the main challenges for IDS is the high dimensionality of the feature space and how the relevant features to distinguish the normal network traffic from attack network are selected. In this paper, multi-objective evolutionary algorithm with decomposition (MOEA/D) and MOEA/D with the injection of a proposed local search operator are adopted to solve the Multi-objective optimization (MOO) followed by Naï

... Show More
View Publication Preview PDF
Publication Date
Wed Oct 12 2022
Journal Name
Axioms
Razy: A String Matching Algorithm for Automatic Analysis of Pathological Reports
...Show More Authors

Pathology reports are necessary for specialists to make an appropriate diagnosis of diseases in general and blood diseases in particular. Therefore, specialists check blood cells and other blood details. Thus, to diagnose a disease, specialists must analyze the factors of the patient’s blood and medical history. Generally, doctors have tended to use intelligent agents to help them with CBC analysis. However, these agents need analytical tools to extract the parameters (CBC parameters) employed in the prediction of the development of life-threatening bacteremia and offer prognostic data. Therefore, this paper proposes an enhancement to the Rabin–Karp algorithm and then mixes it with the fuzzy ratio to make this algorithm suitable

... Show More
View Publication
Scopus (2)
Scopus Clarivate Crossref
Publication Date
Thu Nov 30 2023
Journal Name
Iraqi Journal Of Science
Effect of Genetic Algorithm as a Feature Selection for Image Classification
...Show More Authors

     Analysis of image content is important in the classification of images, identification, retrieval, and recognition processes. The medical image datasets for content-based medical image retrieval (  are large datasets that are limited by high computational costs and poor performance. The aim of the proposed method is to enhance this image retrieval and classification by using a genetic algorithm (GA) to choose the reduced features and dimensionality. This process was created in three stages. In the first stage, two algorithms are applied to extract the important features; the first algorithm is the Contrast Enhancement method and the second is a Discrete Cosine Transform algorithm. In the next stage, we used datasets of the medi

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (1)
Scopus Crossref