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Adaptive Robust Controller Design-Based RBF Neural Network for Aerial Robot Arm Model
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Aerial Robot Arms (ARAs) enable aerial drones to interact and influence objects in various environments. Traditional ARA controllers need the availability of a high-precision model to avoid high control chattering. Furthermore, in practical applications of aerial object manipulation, the payloads that ARAs can handle vary, depending on the nature of the task. The high uncertainties due to modeling errors and an unknown payload are inversely proportional to the stability of ARAs. To address the issue of stability, a new adaptive robust controller, based on the Radial Basis Function (RBF) neural network, is proposed. A three-tier approach is also followed. Firstly, a detailed new model for the ARA is derived using the Lagrange–d’Alembert principle. Secondly, an adaptive robust controller, based on a sliding mode, is designed to manipulate the problem of uncertainties, including modeling errors. Last, a higher stability controller, based on the RBF neural network, is implemented with the adaptive robust controller to stabilize the ARAs, avoiding modeling errors and unknown payload issues. The novelty of the proposed design is that it takes into account high nonlinearities, coupling control loops, high modeling errors, and disturbances due to payloads and environmental conditions. The model was evaluated by the simulation of a case study that includes the two proposed controllers and ARA trajectory tracking. The simulation results show the validation and notability of the presented control algorithm.

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Publication Date
Wed Feb 29 2012
Journal Name
Al-khwarizmi Engineering Journal
WLAN Integrated with GPRS Network Securely
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In this paper a WLAN network that accesses the Internet through a GPRS network was implemented and tested. The proposed network is managed by the Linux based server. Because of the limited facilities of GPRS such as dynamic IP addressing besides to its limited bandwidth a number of techniques are implemented to overcome these limitations.

      Dynamic Host Configuration Protocol (DHCP) server was added to provide a single central control for all TCP/IP resources. Squid Proxy  was added to provide caching of the redundant accessed Web content to reduce the Internet bandwidth usage and speeding up the client’s download time. Network Address Translation (NAT) service was configured to share one IP ad

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Publication Date
Tue Jan 01 2019
Journal Name
Journal Of Communications
SDN Implementation in Data Center Network
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Publication Date
Wed Jan 07 2026
Journal Name
Nasaq
The effectiveness of educational-learning design according to the model of brain compatibility in collection among middle first- grade students in Mathematics
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The research aimed to identify "the effectiveness of educational-learning design according to the model of brain compatibility in achievement among firstmiddle grade students in mathematics", in schools affiliated with the Second Karkh Directorate of Education. To achieve the goal of research, the following zero hypothesis has been formulated: " There is no statistically significant difference at the semantic level (05.0) between the average scores of experimental group students who will study with design accreditation (educational - learning) according to the brain compatibility model and the grades of control group students who will study in the usual way in the achievement thinking test". The research community, which is represented by

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Design and Implementation for optical fiber communication system using frequency shift coding
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In this research, optical communication coding systems are designed and constructed by utilizing Frequency Shift Code (FSC) technique. Calculations of the system quality represented by signal to noise ratio (S/N), Bit Error Rate (BER),and Power budget are done. In FSC system, the data of Nonreturn- to–zero (NRZ ) with bit rate at 190 kb/s was entered into FSC encoder circuit in transmitter unit. This data modulates the laser source HFCT-5205 with wavelength at 1310 nm by Intensity Modulation (IM) method, then this data is transferred through Single Mode (SM) optical fiber. The recovery of the NRZ is achieved using decoder circuit in receiver unit. The calculations of BER and S/N for FSC system a

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Publication Date
Tue May 01 2018
Journal Name
Journal Of Engineering Science And Technology
A proposed dual size design for energy minimization in sub-threshold circuits
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Sub-threshold operation has received a lot of attention in limited performance applications.However, energy optimization of sub-threshold circuits should be performed with the concern of the performance limitation of such circuit. In this paper, a dual size design is proposed for energy minimization of sub-threshold CMOS circuits. The optimal downsizing factor is determined and assigned for some gates on the off-critical paths to minimize the energy at the maximum allowable performance. This assignment is performed using the proposed slack based genetic algorithm which is a heuristic-mixed evolutionary algorithm. Some gates are heuristically assigned to the original and the downsized design based on their slack time determined by static tim

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Design of six electrode Enzial electrostatic lens low aberrations for electron gun
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A computerized investigation has been carried out on the design of six electrodes electrostatic lenses used in electron gun application. The Finite-Element Method (FEM) was used in the solution of Laplace equation for determine the axial potential distribution. The electron trajectory under zero magnification condition. The optical properties, spherical and chromatic aberrations, the object and image focal length and object and image position are calculated. A very good futures for the electron gun with these lenses have been computed where are a beam current of 8.7*10-7A can be supplied using cathode tip of radius 10nm.

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Publication Date
Wed Mar 01 2023
Journal Name
Results In Engineering
Low-cost autonomous car level 2: Design and implementation for conventional vehicles
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Publication Date
Sat May 01 2021
Journal Name
Civil Engineering Journal
The Suitability of Bailey Method for Design of Local Asphalt Concrete Mixture
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The study investigated the behaviour of asphalt concrete mixes for aggregate gradations, according to the Iraqi specification using the Bailey method designed by an Excel spreadsheet. In mixing aggregates with varying gradations (coarse and fine aggregate), The Bailey method is a systematic methodology that offers aggregate interlocking as the backbone of the framework and a controlled gradation to complete the blends. Six types of gradation are used according to the bailey method considered in this study. Two-course prepared Asphalt Concrete Wearing and Asphalt Concrete binder, the Nominal Maximum Aggregate Sizes (NMAS) of the mixtures are 19 and 12.5 mm, respectively. The total number of specimens was 240 for both layers (15 samp

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Publication Date
Wed Jun 06 2001
Journal Name
المجلة العراقية للعلوم الاحصائية
Suggest formulas for estimating carry-over effects in two-period changeover design
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This research aims to suggest formulas to estimate carry-over effects with two-period change-over design, and then, all other effects in the analysis of variance of this design, and find the efficiency of the two-period change-over design relative to another design (say, completely randomized design).

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Publication Date
Tue Sep 21 2021
Journal Name
Jmerd
stress and strain analysis for the prosthetic hand design actuated by links
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Prosthetic hands are compensatory devices for the hand amputees as a result of injury, various accidents or birth deformities, types of prosthetic hand vary depending on the mechanism they operate and how they perform. There are common types in use that are characterized by their complex mechanisms, which are difficult for the amputee to use or exclude use because of their high cost, therefore the aim of this research is to design an artificial hand that is suitable in terms of simplicity of use and low cost and similar to a natural hand with regard to dimensions and shape that operated in the mechanism of links. This research involves Stress and strain analysis of the prosthetic hand and its fingers that modelled from (Petg CR)

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