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
Sun Jan 01 2023
Journal Name
International Conference Of Computational Methods In Sciences And Engineering Iccmse 2021
On Čech fuzzy soft bi-clouser spaces
...Show More Authors

View Publication
Scopus Crossref
Publication Date
Mon Jun 05 2023
Journal Name
Journal Of Economics And Administrative Sciences
Fuzzy Bridge Regression Model Estimating via Simulation
...Show More Authors

      The main problem when dealing with fuzzy data variables is that it cannot be formed by a model that represents the data through the method of Fuzzy Least Squares Estimator (FLSE) which gives false estimates of the invalidity of the method in the case of the existence of the problem of multicollinearity. To overcome this problem, the Fuzzy Bridge Regression Estimator (FBRE) Method was relied upon to estimate a fuzzy linear regression model by triangular fuzzy numbers. Moreover, the detection of the problem of multicollinearity in the fuzzy data can be done by using Variance Inflation Factor when the inputs variable of the model crisp, output variable, and parameters are fuzzed. The results were compared usin

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Wed Sep 01 2021
Journal Name
Baghdad Science Journal
Fuzzy-assignment Model by Using Linguistic Variables
...Show More Authors

      This work addressed the assignment problem (AP) based on fuzzy costs, where the objective, in this study, is to minimize the cost. A triangular, or trapezoidal, fuzzy numbers were assigned for each fuzzy cost. In addition, the assignment models were applied on linguistic variables which were initially converted to quantitative fuzzy data by using the Yager’sorankingi method. The paper results have showed that the quantitative date have a considerable effect when considered in fuzzy-mathematic models.

View Publication Preview PDF
Scopus (7)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Tue Jan 01 2013
Journal Name
The Iraqi Journal Of Agricultural Sciences
GENETIC VARIATION OF SOME OAT TRAITS RELATED TO WATER SALINITY
...Show More Authors

Salinity of soil or irrigation water is one of the most important obstacle towards crop production and productivity, especially with the increasing scarcity of fresh water in Iraq and the Arab countries. The impact of salinity will be alleviated with the increasing temperature due to global warming. The objectives of this article was to shed some light on traits more related to salinity stress tolerance in oats, and to identify genetic variation of these traits. A split-plot arrangement experiment with RCBD was applied through 2011-2013 on the farm of Dept. of Field Crops/Coll. of Agric./Univ. of Baghdad. The oats cultivars; Hamel, Pimula and Genzania were set in sub-plots, whereas water quality was set in main-plots. Water quality had two

... Show More
Publication Date
Wed Apr 01 2020
Journal Name
Plant Archive
Genetic analysis of sorghum cultivars from USA using SSR markers
...Show More Authors

Scopus (12)
Scopus
Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Energy Storage
Artificial intelligence-driven analysis of dynamic melting in open shell-and-tube latent-heat storage: Effects of PCM inlet pressure, port geometry, and positioning
...Show More Authors

This numerical study explores dynamic melting as an enhancement strategy to improve heat transfer in thermal energy storage (TES) systems utilizing phase change materials (PCM) with openings. Optimizing such systems is crucial for advancing renewable energy storage and integration. A 3D model simulates RT35 PCM flowing through a shell-and-tube heat exchanger annulus. The effects of varying PCM inlet slot diameter (2.5–7.5 mm), inlet pressure (1–40 Pa), and inlet/outlet port positioning on melting fraction and temperature distributions are computationally evaluated. Results show that increasing slot diameter from 2.5 mm to 7.5 mm reduces melting time by 13.6 % (from 550 to 475 min). Raising inlet pressure from 10 Pa to 40 Pa cuts melting

... Show More
View Publication
Scopus (11)
Crossref (10)
Scopus Crossref
Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Design and Implementation of a Vlsm Simulator
...Show More Authors

Variable-Length Subnet Masks (VLSM), often referred to as "subnetting a subnet", is used to maximize addressing efficiency. The network administrator is able to use a long mask on networks with few hosts, and a short mask on subnets with many hosts. This addressing scheme allows growth and does not involve wasting addresses. VLSM gives a way of subnetting a network with
minimal loses of IP addresses for a specific range. Unfortunately, the network administrator has to perform several mathematical steps (or use charts) to get the required results from VLSM. In this paper, a simple graph simulator is proposed (using Visual Basic 6.0 Language) to perform all the required mathematical steps and to display the obtained required informatio

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Sep 12 2012
Journal Name
Journal Of Engineering
Design and Implementation of a Vlsm Simulator
...Show More Authors

Variable-Length Subnet Masks (VLSM), often referred to as "subnetting a subnet", is used to maximize addressing efficiency. The network administrator is able to use a long mask on networks with few hosts, and a short mask on subnets with many hosts. This addressing scheme allows growth and does not involve wasting addresses. VLSM gives a way of subnetting a network with minimal loses of IP addresses for a specific range. Unfortunately, the network administrator has to perform several mathematical steps (or use charts) to get the required results from VLSM. In this paper, a simple graph simulator is proposed (using Visual Basic 6.0 Language) to perform all the required mathematical steps and to display the obtained required information (the

... Show More
Publication Date
Wed Dec 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Design and Implementation of Iraqi Virtual Library
...Show More Authors

      In developing countries, individual students and researchers are not able to afford the high price of the subscription to the international publishers, like JSTOR, ELSEVIER,…; therefore the governments and/or universities of those countries aim to purchase one global subscription to the international publishers to provide their educational resources at a cheaper price, or even freely, to all students and researchers of those institutions. For realizing this concept, we must build a system that sits between the publishers and the users (students or researchers) and act as a gatekeeper and a director of information: this system must register its users and must have an adequate security to e

... Show More
View Publication Preview PDF
Publication Date
Thu Mar 01 2007
Journal Name
Al-khwarizmi Engineering Journal
Design and Analysis of New Prosthetic Foot.
...Show More Authors

There is a variety of artificial foot designs variable for use with prosthetic legs . Most of the design can be divided into two classes, articulated and non-articulated feet. one common non-articulated foot is the SACH . The solid ankle cushion heel foot referred to as the SACH foot has a rigid keel .

One key or the key factor in designing a new prosthesis is in the analysis of a patients response .

 This view is the most important because if the foot does not provide functional , practical or cosmetically acceptable characteristics the patient will not feel comfortable with the prosthesis , therefore design and manufacturing a new foot is essential, this foot made from polyethylene, its different shape and characte

... Show More
View Publication Preview PDF