Ahmed S. Al-Araji1; Attarid K. Ahmed
Volume 18, Issue 2 , September 2018, Page 1-16
Abstract
This paper presents a cognitive system based on a nonlinear Multi-Input Multi-Output (MIMO) Proportion Integral Derivative (PID) Modified Elman Neural Network(MENN) controller and the Square Road Map (SRM) method to guide the mobile robot duringthe continuous path-tracking with collision-free navigation ...
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This paper presents a cognitive system based on a nonlinear Multi-Input Multi-Output (MIMO) Proportion Integral Derivative (PID) Modified Elman Neural Network(MENN) controller and the Square Road Map (SRM) method to guide the mobile robot duringthe continuous path-tracking with collision-free navigation through static obstacles. Theproposed cognitive system consists of two parts: the first part is to plan the desired path for themobile robot with the static obstacle environment in order to determine the target point and toavoid the obstacles based on the proposed square road map algorithm. The second part is toguide and track the wheeled mobile robot on the desired path equation based on the proposednonlinear MIMO-PID-MENN controller with the intelligent algorithm. The Particle SwarmOptimization (PSO) is used to on-line tune the variable control parameters of the proposedcontroller to get the optimal torques actions for the mobile robot platform. Based on using theMATLAB package (2017), the numerical simulation results show that the proposed cognitivesystem has high accuracy for planning the desired path equation in terms of avoiding the staticobstacles with smooth and short distance and generating a perfect torque action of (0.7 N.m)without a saturation state of (3.07 N.m), which leads to minimize the tracking pose error forthe mobile robot to the zero value approximation. These results were confirmed by acomparative study with different nonlinear PID controller types in terms of number ofiterations and the performance index.
Hazem I. Ali; Mustafa J. Kadhim
Volume 18, Issue 2 , September 2018, Page 17-29
Abstract
The design of an H2 sliding mode controller for a mobile invertedpendulum system is proposed in this paper. This controller is conducted to stabilizethe mobile inverted pendulum in the upright position and drive the system to adesired position. Lagrangian approach is used to develop the mathematical ...
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The design of an H2 sliding mode controller for a mobile invertedpendulum system is proposed in this paper. This controller is conducted to stabilizethe mobile inverted pendulum in the upright position and drive the system to adesired position. Lagrangian approach is used to develop the mathematical modelof the system. The H2 controller is combined with the sliding mode control to give abetter performance compared to the case of using each of the above controllersalone. The results show that the proposed controller can stabilize the system anddrive the output to a given desired input. Furthermore, variations in systemparameters and disturbance are considered to illustrate the robustness of theproposed controller.
Mohammed Rajih Jassim
Volume 18, Issue 2 , September 2018, Page 30-38
Abstract
In this paper, the limitation of the existing E-Government system ishighlighted, followed by the introduction of the new e-service framework that handlesthe e-government system in the offline mode. This framework can manage complaintsand transactions in an effective manner. The current study is significant ...
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In this paper, the limitation of the existing E-Government system ishighlighted, followed by the introduction of the new e-service framework that handlesthe e-government system in the offline mode. This framework can manage complaintsand transactions in an effective manner. The current study is significant since anunbiased assessment of the loopholes was conducted in accordance with theinformation security guidelines. Furthermore, all possible vulnerabilities of the systemwere assessed to evaluate the actual impacts of the information security guidelines.Some suggestions have been recommended to improve the information security of Egovernancesystems for Martyrs and Wounded of Popular Mobilization Forces andIraqi Militaries. Nevertheless, the current project framework has been adopted from therelevant research works performed earlier. The framework design involves two stages:(1) design of a flexible website for Martyrs and Wounded of Popular MobilizationForces and Iraqi Militaries. In other words, we would like to provide a robust egovernmentservice to Iraqi government; and (2) improve system security and preventman-in-the-middle (MiMT) attack. The significance of this study is to reduce the claimprocessing time for the martyrs and wounded of popular mobilization forces and Iraqmilitary. Furthermore, it will increase the reply time from the departments and theclients to reply for their inquiries.
Amjad Jaleel Humaidi; Mohammed Ali S. Mohammed; Akram Hashim Hameed
Volume 18, Issue 2 , September 2018, Page 39-52
Abstract
In the present work, the design of an L1 adaptive controller forposition control of a linear servo motor for X-Y table application has beendeveloped. The AC Permanent Magnet Linear Synchronous Servo Motor(PMLSM) is considered. A comparative study between L1 adaptive control andModel Reference Adaptive ...
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In the present work, the design of an L1 adaptive controller forposition control of a linear servo motor for X-Y table application has beendeveloped. The AC Permanent Magnet Linear Synchronous Servo Motor(PMLSM) is considered. A comparative study between L1 adaptive control andModel Reference Adaptive Control (MRAC) has been made. The effectiveness ofthe L1 adaptive controller against uncertain parameters is analyzed based onsimulated results. Robustness characteristics of both L1 adaptive controller andmodel reference adaptive controller to different input reference signals anddifferent structures of uncertainty have been evaluated. The L1-adaptivecontroller could ensure uniformly bounded transient and asymptotic trackingfor input and output signals. Simulations based on MATLAB of an x-y tablebased on PMLSM with time-varying friction and disturbance are presented toverify the theoretical findings. The simulation results within the environment ofMATLAB/SIMULINK showed that L1-adaptive controller could give bettertracking performance, dynamic and steady-state characteristics, than thatobtained from MRAC for considered types of input and for various structures ofuncertainties.
Nasheed F. Mossa; Waleed F. Shareef; Faez F. Shareef
Volume 18, Issue 2 , September 2018, Page 53-62
Abstract
The oil export industry dominates the economy of the world and itdepends heavily on oil pipelines. Exposed pipelines are prone to malfunctioningdue to intentional or unintentional tampering and vandalism, which is usuallycaused by damaging form of either knocking or drilling. Continuous structurehealth ...
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The oil export industry dominates the economy of the world and itdepends heavily on oil pipelines. Exposed pipelines are prone to malfunctioningdue to intentional or unintentional tampering and vandalism, which is usuallycaused by damaging form of either knocking or drilling. Continuous structurehealth monitoring (SHM) of pipelines using conventional methods is difficultand expensive due to the extensive length of the pipelines and the harshenvironment. Recent development in printed electronic circuits andmicrocontrollers open new possibilities in the field of monitoring and haveproven their practicality in vibration monitoring process. This paper presents amonitoring system for pipeline heal of the structure based on the wirelesssensor network. The system senses the pipeline vibration and relays the data toa base station for the procession. A WSN consists of three nodes is designed andimplemented. Each node is built around 32-bit ARM core microcontroller, andequipped with an accelerometer to measure the pipeline vibration. Themeasurements of each sensor are collected wirelessly through ZigBee protocolto a base station. Results on a 2 m pipeline sample show the ability of thesystem to precisely detect damaging events e.g. knocking and drilling to thepipeline.
A. A. Salman; H. T. Ziboon
Volume 18, Issue 2 , September 2018, Page 63-67
Abstract
The Powerline Communications (PLC) technology allows datatransmission through electrical wires. Thus the electrical wiring will representa data transmission channel conformable to the physical layer of the opensystem interconnection (OSI) model. In this work, the specifications of the Iraqielectrical ...
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The Powerline Communications (PLC) technology allows datatransmission through electrical wires. Thus the electrical wiring will representa data transmission channel conformable to the physical layer of the opensystem interconnection (OSI) model. In this work, the specifications of the Iraqielectrical network were used to model a high-voltage transmission line using atransmission (ABCD) matrix and use it as a communication channel fortransmitting data within a narrow band (30-500). The transfer function of thesuggested model was derived and its performance analysis was performed toevaluate the Line length effect, load impedance ZL and the source impedance ZSon the channel frequency response. This analysis was done with the help ofMatlab16a simulator program.
Saad Mutashar
Volume 18, Issue 2 , September 2018, Page 77-85
Abstract
This paper introduces a new hybrid E/F power amplifier forsubcutaneous applications. The proposed design is based on Amplitude ShiftKeying (ASK) modulation technique with Industrial Scientific Medical (ISM)band operating at 135 kHz to avoid the tissue damage. The Hybrid E/F poweramplifier combines the ...
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This paper introduces a new hybrid E/F power amplifier forsubcutaneous applications. The proposed design is based on Amplitude ShiftKeying (ASK) modulation technique with Industrial Scientific Medical (ISM)band operating at 135 kHz to avoid the tissue damage. The Hybrid E/F poweramplifier combines the tuning network circuits and uses a control unit tocontrol a selectable switch to choose the desired amplifier. The Amplitude ShiftKeying modulator is proposed to supply the proposed hybrid amplifier withapproximately constant DC voltage. The proposed power amplifier aims toprovide an appropriate power to power the implantable devices and reduce thehardware of the subcutaneous devices depending on the specific applications.