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
Fri Jul 28 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Month – to – Month Until N Years Prediction for Planning a Productive Firm
...Show More Authors

      This paper offers a monthly prediction method for planning production, inventory, workforce, sales and prices until N years. Each monthly decision will depend on last month, decisions and take in consideration the future forecasted demand. The manager can run the program in any month within a year. This method is executed by computer programming technique to maximize profits.

View Publication Preview PDF
Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
SIMULATION OF OPTIMAL SPEED CONTROL FOR A DC MOTOR USING LINEAR QUADRATIC REGULATOR (LQR)
...Show More Authors


This paper describes DC motor speed control based on optimal Linear Quadratic Regulator (LQR) technique. Controller's objective is to maintain the speed of rotation of the motor shaft with a particular step response.The controller is modeled in MATLAB environment, the simulation results show that the proposed controller gives better performance and less settling time when compared with the traditional PID controller.

View Publication Preview PDF
Crossref (4)
Crossref
Publication Date
Fri Jan 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Using a New General Complex Integral Transform for Solving Population Growth and Decay Problems
...Show More Authors

The Population growth and decay issues are one of the most pressing issues in many sectors of study. These issues can be found in physics, chemistry, social science, biology, and zoology, among other subjects.

We introduced the solution for these problems in this paper by using the SEJI (Sadiq- Emad- Jinan) integral transform, which has some mathematical properties that we use in our solutions. We also presented the SEJI transform for some functions, followed by the inverse of the SEJI integral transform for these functions. After that, we demonstrate how to use the SEJI transform to tackle population growth and decay problems by presenting two applications that demonstrate how to use this transform to obtain solutions.

Fin

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sun Dec 03 2017
Journal Name
Al-khwarizmi Engineering Journal
A theoretical study for increasing production of electric power from Iraqi steam power plants.
...Show More Authors

This article conclude a theoretical study for the possibility to produce additional electric power from Iraqi steam power plants by  cutting – off high-pressure feed water heaters .  Three separated steam power plants which Dura , south –Baghdad and Nasria were studied . The investigation showed the possibity of increasing the electric power from 10 to 15% for Dura and Nasria , whereas 6% for south – Baghdad . According to the nowadays of operation to Iraqi steam power plants , the results showed that by cutting–off high  pressure feed water heaters we can generate additional electric power about 250 MW during 3-4 hrs. daily. In addition, the fuel consumption can be reduced in comparison with diesel generat

... Show More
View Publication Preview PDF
Publication Date
Sun Oct 01 2017
Journal Name
Ieee Transactions On Neural Systems And Rehabilitation Engineering
A Framework of Temporal-Spatial Descriptors-Based Feature Extraction for Improved Myoelectric Pattern Recognition
...Show More Authors

View Publication
Scopus (107)
Crossref (108)
Scopus Clarivate Crossref
Publication Date
Sun Aug 01 2021
Journal Name
Bulletin Of Electrical Engineering And Informatics
A critical success factors for software project manager in GVTs within covid-19 pandemic
...Show More Authors

The covid-19 pandemic sweeping the world and has rendered a large proportion of the workforce as they are unable to commute to work. This has resulted in employees and employers seeking alternative work arrangements, including the software industry. Then comes the need for the global market and international presence of many companies to implement the global virtual teams (GVTs). GVTs members are gradually engaged in globalized business environments across space, time and organizational boundaries via information and communication technologies. Despite the advancement of technology, the project managers are still facing many challenges in communication. Hense, to become a successful project manager still a big challenge for them. This study

... Show More
View Publication
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Sun Dec 30 2018
Journal Name
Advances In Science, Technology & Innovation
Producing a Three Dimensional Model for the University of Baghdad Campus Using GIS Environment
...Show More Authors

View Publication
Scopus (1)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Fri Sep 02 2022
Journal Name
Military Medical Science Letters
SOLID LIPID NANOPARTICLES AS A PROMISING APPROACH FOR DELIVERY OF ANTICANCER AGENTS: REVIEW ARTICLE
...Show More Authors

Cancer disease has a complicated pathophysiology and is one of the major causes of death and morbidity. Classical cancer therapies include chemotherapy, radiation therapy, and immunotherapy. A typical treatment is chemotherapy, which delivers cytotoxic medications to patients to suppress the uncontrolled growth of cancerous cells. Conventional oral medication has a number of drawbacks, including a lack of selectivity, cytotoxicity, and multi-drug resistance, all of which offer significant obstacles to effective cancer treatment. Multidrug resistance (MDR) remains a major challenge for effective cancer chemotherapeutic interventions. The advent of nanotechnology approach has developed the field of tumor diagnosis and treatment. Cancer nanote

... Show More
View Publication
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Fri Jul 28 2023
Journal Name
Journal Of Advanced Pharmaceutical Technology & Research
Development of a spectrophotometric analytical approach for the measurement of cefdinir in various pharmaceuticals
...Show More Authors

View Publication Preview PDF
Scopus Crossref
Publication Date
Mon Jan 30 2023
Journal Name
Iraqi Journal Of Science
Implementation of a Circular Shape Patch Antenna at 2.4 GHz for Different Wireless Communications
...Show More Authors

      In this work, the circular patch antenna was fabricated and analyzed. Microwave Studio (version 2019) computer simulation technology (CST) was used to design the circular patch antenna. The material FR-4 was used to build this antenna, using the computer numerical control (CNC) method to implement this work. For the purpose of accomplishing this design, the values ​​of the resonant frequency, dielectric constant and dielectric thickness of the material used as in 4.424, 2.4 GHz and 0.159 cm respectively were used as inputs to the CST program to get the said program outputs for the required antenna radius with the logarithmic function (F) of the circular patch antenna 1.6909 cm and 1.7415 cm respectively. Practically, the b

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (4)
Scopus Crossref