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Fuzzy Luenberger Observer Design for Nonlinear Flexible Joint Robot Manipulator
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The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The developed Luenberger observer showed its ability to control the FJRM by utilizing only the measured signal of the velocity of the motor. Stability analysis is implemented to improve the ability of the designed observer to stabilize the FJRM system. The developed observer is tested by simulation to evaluate the ability of the observer to estimate the unknown states. The results showed that the proposed control algorithm estimated the motor angle, gear angle, link angle, angular velocity of gear, and angular velocity of link with zero steady errors.

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Publication Date
Sat Jun 01 2019
Journal Name
2019 Ieee International Conference On Automatic Control And Intelligent Systems (i2cacis)
Study on Solar Panel Cleaning Robot
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Publication Date
Fri Jul 19 2019
Journal Name
Iraqi Journal Of Science
Comparative Study of Ranking Methods for Fuzzy Transportation
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There are several methods that are used to solve the traditional transportation problems whose units of supply, demand quantities, and cost transportation are known exactly. These methods obtain basic solution, and develop it to the best solution through a series of consecutive calculations to obtain the optimal solution.
The steps are more complex with fuzzy variables, so this paper presents the disadvantages of solutions of the traditional ways with existence of variables in the fuzzy form.
This paper also presents a comparison between the results that emerged after using different conversion ranking formulas to convert from fuzzy form to crisp form on the same numerical example with a full fuzz

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Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Edge detection for Diabetic Retinopathy using fuzzy logic
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Diabetic retinopathy is an eye disease, because of pressure in eye nerve fiber. It is a major cause of blindness in middle as well as older age groups; therefore it is essential to diagnose it earlier. Some of the challenges are in the diagnosis of the disease is detection edges of the image, may be some important edges are missed outcome the noise around the corners.
Wherefore, in order to reduce these effects in this paper, we proposed a new technique for edge detection using traditional operators in combination with fuzzy logic based on fuzzy inference system. The results show that the proposed fuzzy edge detection technique better than of traditional techniques, where vascular are markedly detected over the original.

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Social Media Application for Recruitment Using Pythagorean Fuzzy
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    The growth of social media is now utilized all over the world. In the past several years social media is used to communicate between person for information sharing and entertainment but now social media is also used for the hiring. This work collects data through questionnaire and online dataset on the recruitment process for three social media i.e. Facebook, Twitter, and LinkedIn. Pythagorean Fuzzy Relation (PFR) is an expansion of both Fuzzy Relationship and Fuzzy Intuitionist Relationship. The Pythagorean fuzzy set is a modern conceptual structure with greater capacity to deal with imprecision rooted in decision making. So we used this technique to identify a social media containing more number of positive respondents in recrui

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Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
Age Influence on Knee Joint Flexors
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Background : Knee flexors tightness has been documented in apparently healthy adults and in those with musculoskeletal problems, but the influence of age on the tightness has not been studied in Iraq. This study was therefore designed to determine the influence of age on knee flexors tightness in apparently healthy subjects.Methods: Knee flexors tightness was measured using the active knee extension test (AKET) in 200 apparently healthy male and female subjects, aged 13 to 59 years. The subjects were recruited into 5 age groups using the purposive sampling technique.Knee flexors tightness was compared across the age groups using one-way analysis ofvariance (ANOVA). The independent t-test was used to compare knee flexors tightness on both

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Publication Date
Mon Apr 30 2018
Journal Name
Journal Of Theoretical And Applied Information Technology
An efficient artificial fish swarm algorithm with harmony search for scheduling in flexible job-shop problem
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Flexible job-shop scheduling problem (FJSP) is one of the instances in flexible manufacturing systems. It is considered as a very complex to control. Hence generating a control system for this problem domain is difficult. FJSP inherits the job-shop scheduling problem characteristics. It has an additional decision level to the sequencing one which allows the operations to be processed on any machine among a set of available machines at a facility. In this article, we present Artificial Fish Swarm Algorithm with Harmony Search for solving the flexible job shop scheduling problem. It is based on the new harmony improvised from results obtained by artificial fish swarm algorithm. This improvised solution is sent to comparison to an overall best

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Publication Date
Sat Apr 01 2023
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Flexible handover solution for vehicular ad-hoc networks based on software defined networking and fog computing
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<p>Vehicular ad-hoc networks (VANET) suffer from dynamic network environment and topological instability that caused by high mobility feature and varying vehicles density. Emerging 5G mobile technologies offer new opportunities to design improved VANET architecture for future intelligent transportation system. However, current software defined networking (SDN) based handover schemes face poor handover performance in VANET environment with notable issues in connection establishment and ongoing communication sessions. These poor connectivity and inflexibility challenges appear at high vehicles speed and high data rate services. Therefore, this paper proposes a flexible handover solution for VANET networks by integrating SDN and

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Publication Date
Tue Jan 02 2018
Journal Name
Arab Journal Of Basic And Applied Sciences
Daftardar-Jafari method for solving nonlinear thin film flow problem
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Publication Date
Fri Oct 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Novel Approximate Solutions for Nonlinear Initial and Boundary Value Problems
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This paper investigates an effective computational method (ECM) based on the standard polynomials used to solve some nonlinear initial and boundary value problems appeared in engineering and applied sciences. Moreover, the effective computational methods in this paper were improved by suitable orthogonal base functions, especially the Chebyshev, Bernoulli, and Laguerre polynomials, to obtain novel approximate solutions for some nonlinear problems. These base functions enable the nonlinear problem to be effectively converted into a nonlinear algebraic system of equations, which are then solved using Mathematica®12. The improved effective computational methods (I-ECMs) have been implemented to solve three applications involving

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Volterra Runge- Kutta Methods for Solving Nonlinear Volterra Integral Equations
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In this paper Volterra Runge-Kutta methods which include: method of order two and four will be applied to general nonlinear Volterra integral equations of the second kind. Moreover we study the convergent of the algorithms of Volterra Runge-Kutta methods. Finally, programs for each method are written in MATLAB language and a comparison between the two types has been made depending on the least square errors.

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