Mohamed J. Mohamed; Mustafa Y. Abbas
Abstract
One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory ...
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One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties. Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance. This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller’s parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error. The Matlab simulation results demonstrate the good performance and robustness of this controller. These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot. Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.
Ahlam Luaibi , Shuraiji; Z. Q. Zhu
Abstract
In this study, partitioned stator permanent magnet (PS-PM) tubular machines having single- and double-layer windings layouts have been investigated. Two configurations of PS-PM tubular machines were considered, i.e. partitioned stator surface mounted permanent magnet (PS-SPM) and interior permanent magnet ...
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In this study, partitioned stator permanent magnet (PS-PM) tubular machines having single- and double-layer windings layouts have been investigated. Two configurations of PS-PM tubular machines were considered, i.e. partitioned stator surface mounted permanent magnet (PS-SPM) and interior permanent magnet (PS-IPM) tubular machines. A comprehensive comparison has been carried out in order to investigate the impact of the winding layouts on such machines. It should be mentioned that the FE package that is used in this paper is (ANSYS Maxwell). It has been noted that irrespective of machines configurations, i.e. either PS-SPM or PS-IPM tubular machines, similar thrust force capability, higher average thrust force per magnet volume, lower thrust force ripple as well as cogging force and higher fault tolerance capability can be delivered by PS-PM tubular machines with single-layer winding compared to that with double-layer winding.
Ahmed Majid Abdel Abbas; Muayad Sadik Croock
Abstract
Recent advances in the control applications based on hand nervesignals are able to meet the needs of users who suffer from restrictions in limbmovement and also provide high performance control for those paralyzedpeople. These signals are represented as Electromyography (EMG) signals,which are biomedical ...
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Recent advances in the control applications based on hand nervesignals are able to meet the needs of users who suffer from restrictions in limbmovement and also provide high performance control for those paralyzedpeople. These signals are represented as Electromyography (EMG) signals,which are biomedical ones, used for clinical/biomedical applications. In thiswork, a control signals generation system is proposed based on hand EMGmeasurements. The process of acquisition and processing of EMG signals isperformed by only one channel surface EMG electrodes with one EMGprocessing unit as a muscle sensor. In this work, Arduino UNO is adopted as ananalog to digital converter for these hand nerve signals to be easily analyzed inthe classification process. These signals are measured from the skin surface offorearm and biceps muscles in two suggested case studies to be used ingenerating signals based on ten muscles movements. The main features thatcrystallized this research is building a smart control algorithm which increasesthe flexibility of generating precise control signals based on contracted handmovements with high simplicity of use and the low cost. The obtained results arecompared to other systems results to show the ability of achieving 93.81%classification rate or accuracy among other systems.
Zainab Mohammed Resan; Muayad Sadik Croock
Abstract
Robust and accurate indoor localization has been the goal of several researchefforts over the past decade. In the building where the GPS is not available, this projectcan be utilized. Indoor localization based on image matching techniques related to deeplearning was achieved in a hard environment. So, ...
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Robust and accurate indoor localization has been the goal of several researchefforts over the past decade. In the building where the GPS is not available, this projectcan be utilized. Indoor localization based on image matching techniques related to deeplearning was achieved in a hard environment. So, if it wanted to raise the precision ofindoor classification, the number of image dataset of the indoor environment should be aslarge as possible to satisfy and cover the underlying area. In this work, a smartphonecamera is used to build the image-based dataset of the investigated building. In addition,captured images in real time are taken to be processed with the proposed model as a testset. The proposed indoor localization includes two phases the first one is the offlinelearning phase and the second phase is the online processing phase. In the offline learningphase, here we propose a convolutional neural network (CNN) model that sequences thefeatures of image data from some classis's dataset composed with a smartphone camera.In the online processing phase, an image is taken by the camera of a smartphone in real–time to be tested by the proposed model. The obtained results of the prediction can appointthe expected indoor location. The proposed system has been tested over variousexperiments and the obtained experimental results show that the accuracy of the predictionis almost 98.0%.
Suhad Ibrahim Mohammed
Abstract
in this paper, the system consists of many steps, the first step includes thehistogram equalization, detection, feature extraction, and classification. At first, the dataset of a face image is segmented into four segments, after that Local Binary Pattern (LBP)algorithm is performed to extract features ...
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in this paper, the system consists of many steps, the first step includes thehistogram equalization, detection, feature extraction, and classification. At first, the dataset of a face image is segmented into four segments, after that Local Binary Pattern (LBP)algorithm is performed to extract features for each segment. The best feature vectors forall persons are stored in a new dataset in the next stage in order to be used in the testingphase. Finally, the accuracy rate of performance is evaluated to prove its robustness.Experiments show satisfying results and more accuracy achieved by the paper.
Basma Ahmed; Salih Mahdi Al-Qaraawi
Abstract
This paper presents a system that is used in one of the most important fields inour daily life, shopping and entertainment. The system exploits a mobile application, QuickResponse (QR) code technique and network system. The QR tag is attached to each item inthe market, while the mobile application can ...
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This paper presents a system that is used in one of the most important fields inour daily life, shopping and entertainment. The system exploits a mobile application, QuickResponse (QR) code technique and network system. The QR tag is attached to each item inthe market, while the mobile application can be installed in the Smart Phone. The smartphone is used to scan the attached QR tag and send the result to a network system and thenetwork system will process the received data. A brief information will be brought from thelocal server database. However, if the customer is interested in more details, the networksystem brings these details from the main server and applies them on the smart phonescreen. When the customer decides to buy the item, s/he can add it to the shopping list, thenthe system updates the bill, sends it back to the customer and to the cashier at the sametime. The items will be prepared at the checkout point after payment. This system wasdesigned, implemented, and tested practically so that the performance of that system isachieved for two main points: quick attainment of information and network congestionavoidance
Jabbar Kh. Mohammed
Abstract
Fiber Bragg gratings (FBGs) are one of the most effective technologies becauseof their suitability in many applications of the fiber techniques. Moreover, it can be utilizedin sensing elements and estimating the physical parameters of the optical fiber. In thecurrent research, various fiber bragg lengths ...
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Fiber Bragg gratings (FBGs) are one of the most effective technologies becauseof their suitability in many applications of the fiber techniques. Moreover, it can be utilizedin sensing elements and estimating the physical parameters of the optical fiber. In thecurrent research, various fiber bragg lengths are considered and a comparativeinvestagtion is made for the performance of the refractive index modulation at two differentapodization profiles namely: Gaussian index profiles and uniform index profiles. Also, acomparative study of the optical communication system performance has been carried outof refractive indexes with two apodization functions. A comprehensive comparison in termsof gain, noise figure, OSNR, quality factor, bit error rate and power has been performedwhere the performance of the optical system is studied under various optical channellengths (from 25 km to 100 km) with various FBG lengths, which are ranged from 4 mm to14 mm in both apodization profiles, i.e. uniform profile and Gaussian profile. In order tocarry out the simulation of the performance RZ, the optisystem version 9 is used for singlechannel based on over single mode fiber. The results showed that the maximum Q.F. as theperformance parameter is obtained at the FBG length of 8 mm at all optical lengths.Moreover, the varation effect of optical fiber channel length was greater than the varationeffect of refractive index for all the studied parameters (gain, noise figure, OSNR, qualityfactor, BER, and power) for two apodization functions.
