ISSN: 1811-9212

Issue 1,

Issue 1


PID and Fuzzy Logic Controller Design for Balancing Robot Stabilization

Hussein S. Mohammed; Bashar F. Midhat; Firas A. Raheem

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 1-10

This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them. Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view. The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle.

Web Based E-Hospital Management System

Muayad Sadik Croock; Salih Mahdi Al-Qaraawi; Ridhab Sami Abd-Ali

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 11-28

Hospital Management System (HMS) is a computerizing scheme used to simplify several efforts of the working in a hospital. The system deals with all the requirements of different hospitals to offer efficient services to patients. In addition, it stores the patients’ information for long term for historical records. In this paper, we design and implement a web based HMS for group of hospitals in Iraq. The system provides an efficient link between the hospital’s departments including the laboratories, radiology, pharmacy and the consultants. The proposed system gives simple access to basic data, thus enabling the management to take better decisions on time. The website is designed using PHP, HTML and CSS environments, while the database is built utilizing MySQL version 5.7.11. As a case study, two hospitals (Margan in Babylon and Ibn-Alnafees in Baghdad) have been considered. The results show that the proposed system has achieved high performance and accuracy in terms of provided health services, data management and time consuming.

Indoor Localization System Using Wireless Sensor Network

Hanan Hussain Al-asady; Ekhlas K. Hamza

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 29-38

Building a precise low cost indoor positioning and navigation wireless system is a challenging task. The accuracy and cost should be taken together into account. Especially, when we need a system to be built in a harsh environment. In recent years, several researches have been implemented to build different indoor positioning system (IPS) types for human movement using wireless commercial sensors. The aim of this paper is to prove that it is not always the case that having a larger number of anchor nodes will increase the accuracy. Two and three anchor nodes of ultra-wide band with or without the commercial devices (DW 1000) could be implemented in this work to find the Localization of objects in different indoor positioning system, for which the results showed that sometimes three anchor nodes are better than two and vice versa. It depends on how to install the anchor nodes in an appropriate scenario that may allow utilizing a smaller number of anchors while maintaining the required accuracy and cost.

Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System

Abdul Muhsin M. Al Timimi

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 39-48

This paper presents the design of a full state feedback controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.

Implement Wireless Transceiver System Based On Convolutional Coding; Aided by Soft-Bit Decoding

Israa Hazem Ali

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 49-55

The main aim with any modern digital communication systems is to provide error free data transmission. To achieve this aim, error control coding techniques are applied with these systems. In this paper, digital communication system was implemented based on convolutional code, aided by soft-bit decoding for error free transmission. Fixed length source encoder was represented with this work, and statistically described the output of the source encoder and save this description at the receiver as a priori knowledge about the source encode. These a priori knowledge were exploited at the receiver to improve the performance of the proposed system in term of BER by conceal the errors occurred through the transmission of information over AWGN channel, aided the convolutional encoder. Significant improvements were obtained with this proposed system.

Smart E-Attendance System Utilizing Eigenfaces Algorithm

Bashra Kadhim Oleiwi; Farah F. Alkhali

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 56-63

With the development of technologies and the availability of internet in the present era, the human has been looking for ease and efficiency in running his business, the educational field has been affected by a radical revolution as a result of the introduction of advanced technology. This has led educational institutions to provide and utilize all methods of advanced technology. This paper suggests a simple way of taking students attendance in universities and schools by using face detection and recognition with the goal of checking student’s attendance in the classroom automatically. This operation is done with low cost because there is no need for special hardware to install the system in the classroom. It can be applied using a computer and a camera with low effort and high efficiency. Eigenfaces algorithm is applied in the proposed system for face detection and recognition utilizing OpenCV libraries and Visual C#.Net 2015 with Microsoft Access 2016.

Sensorless Speed Estimation of Permanent Magnet Synchronous Motor Using Extended Kalman Filter

Dr.Farazdaq R. Yasien; Hala W. Khalid

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2018, Volume 18, Issue 1, Pages 64-81

This paper presents a new approach in the modeling and the design of sensorless control method for the Permanent Magnet Synchronous Motor (PMSM) based on the use of the Extended Kalman Filter (EKF). The fourth order EKF is proposed to estimates the states: motor speed ω, rotor angular position, θ and the currents from the measured currents and voltages. The linearization of the nonlinear PMSM model is done in the α_β coordinate system to perform the operation of the EKF.The three phases Space Vector Pulse Width Modulation (SVPWM) inverter usually implemented as a part of the Field Oriented Control (FOC) strategy which has become a standard in the control of PMSM.