Preferred Language
Articles
/
xBYm14kBVTCNdQwCro2O
Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger
...Show More Authors

Abstract. This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pulleys transmission and joint Variable Stiffness Actuator (VSA). The finger motion configuration is obtained by deriving the cam/pulleys transmission profile as a mathematical solution that is then implemented to achieve contact force isotropy on the phalanges. A VSA is proposed, in which three VSAs are designed to act as a muscle in joint space to provide firm grasping. As a mechatronic approach, a suitable type and number of force sensors and actuators are designed to sense the touch, actuate the finger, and tune the VSAs. The torque of the VSAs is controlled utilizing a designed Multi Input Multi Output (MIMO) fuzzy controller. The fuzzy controller input is the force sensors' signals that are used to set the appropriate VSA torque. The fuzzy controller parameters are then tuned using a genetic algorithm as an optimization technique. The objective function of the genetic algorithm is to avoid unbalance torque in the individual joints and to reduce the difference between the values of the supplied VSAs torques. Finally, the operation of the aforementioned finger system is organized through a simple control algorithm. The function of this algorithm is to enable the detection of the unknown object and simultaneously automatically activate the optimized fuzzy controller thus eliminating the necessity of any external control unit.

Scopus Clarivate Crossref
View Publication
Publication Date
Sat Jan 05 2019
Journal Name
Iraqi Journal Of Physics
Solar cells based on natural dyes prepared using anatase phase titanium dioxide
...Show More Authors

Natural dye sensitized solar cell was prepared using strawberry and pomegranate dyes with anatase nanocrystalline titanium dioxide powder. A study of the optical properties of the two dyes, involving the absorption spectrum was determined in the visible region. I-V characteristics under illumination were performed. The results showed that the two prepared dye sensitized solar cells have acceptable values efficiency about (0.94 with Fill factor (45)) and (0.74 with Fill factor (44)) for strawberry and pomegranate dyes, respectively.

View Publication Preview PDF
Crossref
Publication Date
Mon Jul 01 2019
Journal Name
International Journal Of Swarm Intelligence Research
A New Strategy Based on GSABAT to Solve Single Objective Optimization Problem
...Show More Authors

This article proposes a new strategy based on a hybrid method that combines the gravitational search algorithm (GSA) with the bat algorithm (BAT) to solve a single-objective optimization problem. It first runs GSA, followed by BAT as the second step. The proposed approach relies on a parameter between 0 and 1 to address the problem of falling into local research because the lack of a local search mechanism increases intensity search, whereas diversity remains high and easily falls into the local optimum. The improvement is equivalent to the speed of the original BAT. Access speed is increased for the best solution. All solutions in the population are updated before the end of the operation of the proposed algorithm. The diversification f

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (4)
Scopus Clarivate Crossref
Publication Date
Thu Nov 17 2022
Journal Name
Journal Of Information And Optimization Sciences
Hybrid deep learning model for Arabic text classification based on mutual information
...Show More Authors

View Publication
Crossref (1)
Clarivate Crossref
Publication Date
Sat Oct 23 2021
Journal Name
Iraqi Journal Of Physics
Thin Film Dye Laser Based on BBQ Doped Poly (Methyl Meth-Acrylate)
...Show More Authors

This paper reports on the laser emission properties of the BBQ dye in poly (methyl meth-acrylate)(PMMA). This host material combines the advantages of an organic environment for dye with the thermoptical mechanical properties of an organic dye. A BBQ dye solid solution in PMMA polymer. A nitrogen laser in untuned laser cavity has pumped thin films. We developed the concentration and the thickness to get high efficiency. The laser efficiency had been increased from 7% at thickness 1.5 m to 16.5% at thickness 3.5m, and from 1% to 10% when concentration increased from 1x10-5M to 1x10-3 M

View Publication Preview PDF
Publication Date
Sun Dec 01 2019
Journal Name
Baghdad Science Journal
Symmetric- Based Steganography Technique Using Spiral-Searching Method for HSV Color Images
...Show More Authors

Steganography is defined as hiding confidential information in some other chosen media without leaving any clear evidence of changing the media's features. Most traditional hiding methods hide the message directly in the covered media like (text, image, audio, and video). Some hiding techniques leave a negative effect on the cover image, so sometimes the change in the carrier medium can be detected by human and machine. The purpose of suggesting hiding information is to make this change undetectable. The current research focuses on using complex method to prevent the detection of hiding information by human and machine based on spiral search method, the Structural Similarity Index Metrics measures are used to get the accuracy and quality

... Show More
View Publication Preview PDF
Scopus (5)
Scopus Clarivate Crossref
Publication Date
Mon Oct 01 2018
Journal Name
Radioelectronics And Communications Systems
Optical CDMA Coded STBC Based on Chaotic Technique in FSO Communication Systems
...Show More Authors

Free-Space Optical (FSO) can provide high-speed communications when the effect of turbulence is not serious. However, Space-Time-Block-Code (STBC) is a good candidate to mitigate this seriousness. This paper proposes a hybrid of an Optical Code Division Multiple Access (OCDMA) and STBC in FSO communication for last mile solutions, where access to remote areas is complicated. The main weakness effecting a FSO link is the atmospheric turbulence. The feasibility of employing STBC in OCDMA is to mitigate these effects. The current work evaluates the Bit-Error-Rate (BER) performance of OCDMA operating under the scintillation effect, where this effect can be described by the gamma-gamma model. The most obvious finding to emerge from the analysis

... Show More
View Publication
Scopus (6)
Crossref (6)
Scopus Crossref
Publication Date
Sun Jul 01 2012
Journal Name
Applied Soft Computing
A new evolutionary based routing protocol for clustered heterogeneous wireless sensor networks
...Show More Authors

Scopus (246)
Crossref (202)
Scopus Clarivate Crossref
Publication Date
Sun Jun 20 2021
Journal Name
Baghdad Science Journal
PDCNN: FRAMEWORK for Potato Diseases Classification Based on Feed Foreword Neural Network
...Show More Authors

         The economy is exceptionally reliant on agricultural productivity. Therefore, in domain of agriculture, plant infection discovery is a vital job because it gives promising advance towards the development of agricultural production. In this work, a framework for potato diseases classification based on feed foreword neural network is proposed. The objective of this work  is presenting a system that can detect and classify four kinds of potato tubers diseases; black dot, common scab, potato virus Y and early blight based on their images. The presented PDCNN framework comprises three levels: the pre-processing is first level, which is based on K-means clustering algorithm to detect the infected area from potato image. The s

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Mon Feb 28 2022
Journal Name
Journal Of Educational And Psychological Researches
A Suggested Proposal to Activate Educational Supervision Based on Professional Learning Societies
...Show More Authors

Professional learning societies (PLS) are a systematic method for improving teaching and learning performance through designing and building professional learning societies. This leads to overcoming a culture of isolation and fragmenting the work of educational supervisors. Many studies show that constructing and developing strong professional learning societies - focused on improving education, curriculum and evaluation will lead to increased cooperation and participation of educational supervisors and teachers, as well as increases the application of effective educational practices in the classroom.

The roles of the educational supervisor to ensure the best and optimal implementation and activation of professional learning soci

... Show More
View Publication Preview PDF
Publication Date
Thu Nov 02 2023
Journal Name
Journal Of Engineering
New Research Trends in Designing E-Government Architecture Based on Blockchain Technology
...Show More Authors

Blockchain has garnered the most attention as the most important new technology that supports recent digital transactions via e-government. The most critical challenge for public e-government systems is reducing bureaucracy and increasing the efficiency and performance of administrative processes in these systems since blockchain technology can play a role in a decentralized environment and execute a high level of security transactions and transparency. So, the main objectives of this work are to survey different proposed models for e-government system architecture based on blockchain technology implementation and how these models are validated.  This work studies and analyzes some research trends focused on blockchain

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