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Go to Editorial ManagerThis paper presents a novel control framework for robot manipulator path tracking based on the integration of artificial immune systems, fuzzy logic, and fractional-order PID control. The proposed Fuzzy-Immune Fractional-Order PID (FIFOPID) controller combines immune feedback mechanisms, fuzzy logic reasoning, and fractional-order control principles, with controller parameters optimized using the Clonal Selection Algorithm (CSA). The performance of the FIFOPID controller is evaluated and compared against a Fuzzy-Immune PID (FIPID) controller under identical conditions. Simulation results conducted in MATLAB 2014a with SIMULINK demonstrate that the optimal FIFOPID controller outperforms the FIPID controller in terms of path tracking accuracy and overall control performance, highlighting its potential as an effective approach for precise robotic manipulator control.
This paper presents an implementation of an independent control of two-mechanically coupled Permanent Magnet Synchronous Motor (PMSM) fed by two Space Vector Pulse Width Modulation (SVPWM) inverters in a separate mode and in the event of failure one leg of one inverter, fault tolerant mode. In a fault tolerant mode, the two motors can operate in an independent control strategy from one inverter with five legs to maintain a constant output coupled torque. The Field Oriented Control (FOC) strategy is used to control the stator current of the two motors through two separate paths. Such application is used in the field of a coupled torque produced by multi-motors such as in subway applications. The whole system is simulated in Matlab /Simulink and the simulated results show a stable and robustness system which can maintain a constant developed torque with a velocity reaches to the rated under fault tolerant operation.
This paper is concerned with performance on the widely used control technique: adaptive control for synchronization between two identical chaotic systems embedded in the Master and Slave. It is assumed that the parameters of slave system are unknown. The required stability condition is derived to ensure the stability of error dynamics. Adaptive control laws are designed using appropriate parameters estimation law. The system parameters are asymptotically synchronized; thus the slave parameters can be identified. As an application, the proposed scheme is applied to secure communication system. The information signal is transmitted and recovered on the basis of identification parameters also the system is tested under the consideration of the noisy channel. Finally, through Numerical simulation results, the proposed scheme was success in the communication application.
The excitation and governing control of generator play an important role in improving the dynamic and transient stability of power system. Typically the excitation control and governing control are designed independently. This paper, presented Neuro-Fu;,.zy methods for the excitation and governing control . Neuro-Fuz.zy system is applied to generate two compensating signals to modify the controls dwing system disturbances. A single machine to infinite bus (SMIB) system is applied in simulation. The MATLAB SIMULIK and S-function technique is used to simulate the system and controllers
In digital signal processing (DSP), FIR digital filter is very important device to deal with particular frequencies of a certain signal to be appropriate for some applications such as communications, sound equalizers, etc. In this paper, FIR filters are adopted to decompose the original sound signal into four signals. Each one is created by one FIR filter and each filter represents a narrow band of frequencies. The filter output is used to drive a certain variable speed drive (VSD) to control the speed of a water pump and light intensity of a colored lamp. This filter output signal is applied to the analog control voltage terminals of the VSD unit to control the frequency and magnitude of the voltage supplied to the lamp and pump. Thus, the heads of the water jets and the light intensity are controlled according to the analog control signals which are created by the FIR filters (The VSD is used to map the filter output into light intensity and water head by controlling the supplied voltage of them). The goal of this study is to design and simulate four sound harmonics bands produced by FIR filters to drive four VSDs which are simulated using V/F ratio constant method for musical fountain operation.
This study presents a speed control design for switched reluctance motor (SRM) drive based on PID controller. The applications of Switched Reluctance Motors (SRMs) have being increased day by day, but this type of motors represents a highly nonlinear system, therefore there are a lot of difficulties in modeling and controlling them. We have proposed a non-linear mathematical model of a four phases 8/6 poles SRM then simulated it through Simulink/Matlab facilities. The whole control mechanism consists of a hysteresis current controller to minimize the torque ripple and a PID speed controller. The control design results are then validated in real-time by Simulink/Matlab software package.
Among the soft-switching techniques, the Zero-Current Zero-Voltage Transition (ZCZVT) technique is used in this paper. It is based on the Resonant Transition Mechanism requirements, which permit newcomers to perceive the Resonant Transition techniques as a whole instead of dissimilar soft-switching techniques. The open loop operation of the power circuit (DC/DC Boost Converter) and control circuit have been implemented and tested with MatLab software. The simulation test facility and the analytical development tools being used are described. The derivation of closed loop control strategy based on fuzzy logic control with nonlinear fuzzy sets for input and output variables is described in detail. The closed loop simulation results that describe the performance of the proposed converter with this control strategy due to different effects are also included.
Cascade multilevel inverter is a power electronic device built to synthesize a desired ac voltage from several levels of dc voltages. Such inverters have been received increasing attention in the past few years for high power application. A small total harmonic distortion is the most important feature of these inverters. Cascade multilevel inverter is used in this work with proposed control circuit to control the output voltage using sinusoidal pulse width modulation (SPWM). PD-like Fuzzy+I controller is used to control this system to get the required output voltage. The results gained in this work prove the validity of the proposed controller of having an output voltage with minimum distortion.
In this paper, a neuro-fuzzy network-based adaptive tracking controller is suggested for controlling a type of nonlinear system. Where two neuro-fuzzy networks have been used to learn the system dynamics uncertainty bounds by using Lyapunov method. Then the output of these two networks are used to build a sliding mode controller. The stability of the control system is proved and stable neuro-fuzzy controller parameters adjustment laws are selected using Lyapunov theory. Simulation case study shows that the controlled system tracking the reference model effectively with smooth control effort and robust performance has been achieved.
A five-phase two-motor drive system with a series connection of stator windings and decoupled dynamic control is considered in the present paper. The two-motor drive system is supplied from a single five-phase Space Vector Pulse Width Modulation (S VPWM) Voltage Source Inverter (VSI) and controlled using a vector control scheme, provided that the stator windings are connected in series with appropriate phase transposition. The concept has been developed under the assumption that the inverter voltages are controlled in the stationary dq-reference frame. A fuzzy logic-based speed controller has been constructed and used to drive the two-motor in this work. The two-motor system, inverter system, and fuzzy controller models are implemented and tested using Simulink/Matlab facilities. 1be presented results show the validity of the model to do well for the sake of speed control in wider different operating conditions.
Recently, Internet of Thing technology has been used to develop numerous applications, this paper compromising design and implementation of greenhouse prototype that integrated with the IoT to adjust the system’s parameters and monitor the system status from any place in this world. This system involves three intelligent controllers that designed to stabilize the temperature degree, water level in soil, and light intensity inside the greenhouse prototype structure. These systems have been built by two important parts: the hardware and software. The hardware part could be achieved by designing and implementing the control circuits, actuators, and install the sensors as well as the devices. The second one is the software part which is involves implementing Fuzzy Inference Engine that represent the system’s brain that monitor and manage the entire process in the system to ensure the best performance. This system has been built to contain three control systems that means there are three different Fuzzy controllers. In order to keep the system practicality, the fuzzy controllers should be aggregated in single code that resides in single microcontroller chip with additional codes that perform the IoT duties. The proposed IoT system provides the ability for specific people to monitor and manage their systems remotely, using a web application with cloud technology. The major contributions of the proposed system are started by downloading the controller’s set-points (the desired environmental conditions) from the web page, transfer the set- points to the controllers, and upload data that read from sensors to the same web page.)
This research is devoted to investigate the effect of Carbon Fibre Reinforced Polymer (CFRP) strips on the behaviour and load carrying capacity of strengthened and repaired reinforced concrete corbels. Experimental investigation were carried. The experimental program variables include location, direction, amount of CFRP strips and effect of shear span to effective depth (a/d) ratio on the behaviour of strengthened corbels. All corbels had the same dimensions and flexural reinforcement and they were without horizontal shear steel reinforcement. The experimental results obtained from the adopted strengthening and repairing CFRP techniques showed a significant improvement in the behaviour and carrying capacity of the tested corbels. An increase of about (44.5 - 60) % in the ultimate load has been obtained for specimens strengthening by inclined technique compared to the ultimate load of control corbel and (14.7 - 31.2)% for specimens strengthening horizontal technique. For corbels repaired with CFRP strips, an increase of (56%) with respect to the ultimate load of control corbel is achieved. Also the strengthened corbels show stiffer load deflection response than corresponding control corbels (unstrengthened corbels).
In this paper a combining Neurofuzzy and PID controllers have been employed for controlling the positions and rotational motions of the mini-helicopter system. Due to the strong coupling between the state variables of the mini-helicopter model, therefore, it is not suitable to design single controller for regulating the positions and rotational motions of the given model. To solve this problem, three neurofuzzy controllers are designed for the lateral, longitudinal and heave motion; and three classical PID controllers are proposed for attitude control. Nine rules are suggested for each neurofuzzy network depends on the previous knowledge/experiences of expert human pilot. The simulation results show that the proposed controllers are very effective to control the hovering, position and forward flight of the mini-helicopter system.
Over the past years, researchers have been focusing on development the robotics and actuation due to increase demand for these applications like industrial engineering, oil industry, healthcare, aerospace … etc. This work involves the design, construction and control of the Shape Memory Alloy (SMA) actuator. The industrial actuator has many characteristics able to be measured, which have an impact on the efficiency and effectiveness of the actuator while the execution of its tasks. The most important measurable characteristics are repeatability and accuracy. The current system typically is using Nitinol (Nickle Titanium Naval Ordinance Lab), which is one of the Shape Memory Alloy that contract when applying specific heat on it, and it can be used as an actuator. This work presents SMA in the shape of a spring to operate and control the accurate position of the 2-D system which containing four SMA springs, two SMA springs for the x -axis and two SMA springs for the y - axis. The theoretical design and calculations for SMA springs have been presented to collect information about the SMA springs. In a practical manner, the SMA spring characteristic like force and displacement were collected by a test bed that was designed and constructs before making the final rig. The setting shape of the SMA spring was presented and done as per the theoretical calculations. In the rig, each axis works as a two-direction actuator, the actuator is not prone to precise position points due to hysteresis and temperature variation. The SMA spring exhibited hysteresis and imprecise pointing, for that employing PID (Proportional Integral Derivative) with tracking mode controller to compensate the hysteresis. PID control system is played a decisive role with tracking mode model that achieves the aim behind the construction of the experimental rig. Good results have been obtained presented in three cases of drawing different shapes.
The flow control around the airfoil is widely investigated and utilized in the aircraft industry. The benefit of reducing the separation effect and its impact on the aerodynamic performance made the effort on this area is more desirable as this will impact to enhance the flight control as well as to reduce the fuel consumption during the flight. In this paper, the flow control using leading-edge blowing technique has been conducted for NACA0018 airfoil at Reynolds number 6.85 and 13.7 × 10 5 . A CFD analysis has been conducted to examine several flight parameters and blowing speed to explore the benefit of using the blowing in this wing section. The results indicate that the lift coefficient can be enhanced to be increased by 4-6% as compared with no blowing case. However, this increase ratio is affected by the operational Reynolds number and blowing ratio. Higher speed means less benefit from blowing within the limit of blowing ratio of 1. The benefit of using the blowing could come with an increase in the drag at some angle of attack. It is noticed that the blowing technique can generate positive pitching moment at lower angle of attack and can reduce the negative moment when the separation is happening at higher angle of attack. Also, the lesson learned in this paper is that the blowing benefit is more pronounced when the flight is under low Reynolds number environment.
In this paper induction motor and its direct torque control are simulated and a speed estimator scheme based on wavenet (WN) theory has been developed and compared with the actual speed. The wavenet speed estimator inputs are a single line current and the state of the torque comparator output which are trained to follow the relationship between the motor current and the rotor speed. To ensure the validity of this scheme, the estimated speed is compared with a speed estimated from a conventional model reference adaptive system (MRAS). The operation of direct torque control (DTC) drive with the actual speed and the estimated wavenet speed as a feedback signal are simulated and compared. The results show that the wavenet method is effective for rotor speed estimation.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The purpose of this research is to control a quarter car suspension system and also to reduce the fluctuated movement caused by passing the vehicle over road bump using modified PID (Proportional Integral and Derivative) controller. The proposed controller deals with dual loop feedback signals instead of single feedback signal as in the conventional PID controller. The structure of the modified PID controller was created by moving the proportional and derivative actions in the feedback path while remaining the integral action in the forward path. Thus, high accuracy results were obtained. Firstly, modelling and simulation of linear passive suspension system for a quarter car system was performed using Matlab – Simulink software. Then the linear suspension system was activated and simulated by using an active hydraulic actuator to generate the necessary force which can be regulated and controlled by the proposed controller. The performance of whole system has been enhanced with a modified PID controller.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
This paper proposes a fuzzy logic based controller for boost type DC/DC converter. It forms an improvement to the dynamic performances of the well known PI like fuzzy controller which uses the output voltage error & its rate of change as an inputs. The proposed controller generates a duty ratio control signal through the addition of a weighted part of the input voltage and of the low pass filtered signal of the inductor current to that of the fuzzy controller which is fed by voltage error and a signal representing the differences of the output voltage from its low pass filtered version. The controlled boost DC/DC converter exhibited excellent performances under small and larger disturbances of the input voltage and output load resistance and also showed good reference tracking ability.
The shear panels of plate girder made from corrugated in the web is investigated in this research. A corrugated web beam of plate is attached in the shear zone of the web as part of an experimental and theoretical investigation into plate girders. In experiments, seven plate girder specimens were tested under two points of load. Six of them were made of different shape of corrugated plate in the web, the last specimen was tested without corrugation as a reference specimen called control. In this study investigated the effected of (corrugation plate, thickness of corrugation with number layers of corrugated and the shape of corrugated plate) on (buckling and ultimate loads also on lateral and vertical deflection) and compared with reference specimen, these specimens have the same dimensions, the main variable was the thickness of the corrugated plate in the web (0.5, 1, and 2) mm, the depth was constant (300 mm). According to results of the experiment, the corrugated plates primarily increase the plate girder's stability. A corrugation of plate increases the buckling load and ultimate load significantly through the contribution of the corrugation to delay buckling of the plate girder in the web. In addition, it was found that increasing the plate-girder thickness leads to increased buckling and ultimate loads, because the stiffness will increase and delay the buckling. Also, the trapezoidal corrugation and the diagonal corrugate that placed perpendicular on the tension field action, give higher buckling and ultimate load than control beam. Ansys (version 17.0) computer program was used in this research represent the steel and nonlinear large structural shell was used to represent the corrugated web beam of the plate in the finite element analysis model.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
This paper is concerned with the design of a new controller for active suspension system. The model is considered as a quarter-car. The presented controller depends on the fuzzy technique and NARMA-L2 linearization algorithm. The compensation system that added by the fuzzy rules improves the performance of the controller, while the neural network produces the required control signal. The new controller can achieve an improvement of the ride comfort with a reasonable value of power consumption. The mathematical analysis of the mechanical power used by the model is focused on the average and the RMS of the power supplied to the system, regardless of the frequency content of the vibration signal. The simulation results which are verified by a practical examples of road profiles, demonstrate the efficacy of the proposed controller.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
This paper deals with the modeling and control strategics of the motion of wheeled mobile robot. The model of the mobile robot has two driving wheels and the azimuth and velocity are dependently controlled by two PID controllers. The PID controller is one of the earliest and famous industrial controllers. It has many advantages: It is economic, simple easy to be tuned and robu.~t. The tuning of these controllers is governed by system nonlinearities and continuous parameter variations. lbis paper deals with the optimal design of a PID controller for path tracking of mobile robot by using genetic algorithms (GA). The designed controller is tested for different paths.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
Continuously Variable Transmission (CVT) combines the efficiency of manual transmissions with the driving comfort of automatic transmissions while providing an infinite range of gear ratios, improved fuel economy, and enhanced acceleration performance. This study presents a comparative evaluation of CVT performance against manual and automatic transmissions in a parallel hybrid electric vehicle (HEV), focusing on fuel consumption and exhaust emissions. A baseline HEV model equipped with a CVT gearbox was selected from ADVISOR simulation software and subsequently modified by replacing the CVT with manual and automatic transmissions for comparison. Exhaust emissions, including catalytic converter pollutant reactions, were recorded for all configurations. Performance assessments were conducted using several global standard driving cycles to simulate real driving conditions. Results indicated that the CVT configuration achieved superior fuel economy and a significant reduction in exhaust emissions compared with manual and automatic transmissions. This improvement is attributed to the CVT’s effective control of speed ratio and overall transmission efficiency. The findings support the suitability of CVT gearboxes for urban hybrid vehicle applications due to their low fuel consumption and high efficiency in speed ratio control.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
The Mobile Manipulator Robot (MMR) has many applications in different aspects of the life, for example, grasping and transporting, mining, military, manufacturing, construction and others. The benefits of MMR rise in dangerous place where the human cannot reach such as disaster areas and dangerous projects sites. In this work, the PID controller is combined with Fuzzy Logic Controller (FLC) to structure the Fuzzy Supervisory Controller (FSC) to overcome the drawbacks of PID controller and to obtain the advantages of FLC. Two approaches are suggested for the navigation of Autonomous Mobile Robot (AMR). These are; goal reaching fuzzy control (GRFC) and the obstacle avoidance fuzzy control (OAFC). The hardware implementation of the AMR is performed using AVR ATmega32 microcontroller, two DC motors, light dependent resistor (LDR) and five Infra Red sensors. While, the Laboratory robot arm with some fabrications is used as manipulator arm with a five degrees-of- freedom. Then a microcontroller is employed to implement the proposed controller for MMR. The designed MMR is tested in real environments and give a good navigation.
The hybrid electric vehicle (HEV) is considered an effective technique to reduce fuel consumption and exhaust emissions. The effectiveness of the HEVs in reducing fuel consumption and exhaust emissions is required an accurate division of the total power demand between energy sources. This aim is reached by an accurate design of energy management strategy (EMS) in the HEVs. Dynamic programming is an effective strategy to found the optimal solution for energy management. This technique requires the driving cycle to be known previously, wherefore it's not suitable to implement in real-time. The Equivalent Consumption Minimization Strategy (ECMS) is an effective technique that can be implemented in real-time. This strategy is used to estimate and adapt the equivalent factor (EF) in real-time, which is used to convert the electric energy from the battery to equivalent fuel cost. The value of the (EF) varies with the driving cycle, therefore, the (EF) is suitable for a certain driving cycle and may lead to weak performance to another. This work proposed a technique based on the battery state of charge feedback called adaptive prediction (AP) to estimate and adapt the equivalent factor in real-time. The best-obtained results are ranged between (11.1 to 32.889) % for several different driving cycles.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
This study uses intelligent techniques to regulate brushless direct current speed (BLDC) motors. After these motors solved the problem of using brushes and commutators in traditional DC motors, they succeeded in replacing brushes and commutators with electronic commutators. Due to the use of electronic switching, brushless motor algorithms are more complex than those of conventional motors. In this study, to adjust the PID controller's settings (Kp, Ki, and Kd), a trial-and-error approach was taken, and a completely new method known as the settings of known PID controllers have been modified using the new Gray Wolf algorithm. A BLDC motor's main benefit is that it has easy speed adjustment across a broad range, whereas AC motors often cannot be controlled in this way. Through the use of Matlab/Simulink, the BLDC motor's mathematical model was developed and implemented. The simulation results show that in the first case, a PID controller effectively induces the turbulent dynamic behavior of BLDC under load and no-load conditions, and in the second case, the speed shows the lowest rise time, stability, overshoot, and stability conditions, and performs at its best. The characteristics of the traditional PID controller that regulates the engine speed must be regulated online to achieve the use of intelligent technologies, and the adjustment is done online using the neural network. The results showed that this technology, or feature - online tuning - is the most effective and reliable of all.
The goal is how to estimate video quality of MPEG TCP-Friendly video streaming over robust wireless channel against frequent packet loss. In this paper, a Forward-Error-Correction (FEC) scheme is used as an intra-protection control over an Additive White Gaussian Noise (AWGN) wireless channel behind wired links. For this purpose, we propose Variable Frame Rate based on TCP-Friendly Rate Control (VFR-TCP) algorithm to evaluate the predicted frame rate of MPEG-4 video streaming. Quality of Service (QoS) is also evaluated by the predicted quantizer scale Q for the case that the network throughput is assumed to be equal to the required bandwidth. As a result, we obtained a good and reasonable perceived video quality over a noisy wireless channel, by varying the channel error rate or the channel SNR where AWGN and a coded BPSK scheme are dominated.
This study presents an attempt for establishment of sustainable development and management policies for utilization of Basrah coastal aquifer. The simulation/optimization approach is used with application to Um-Qasr aquifer in Basrah. In this research, 5 management schemes for sustainable use of a coastal aquifer exposed to seawater intrusion were developed and solved. The objective of the management models is to maximize the total amount of water pumped from the aquifer for beneficial use, and optimum location, numbers and redistribution of wells. Salt concentration of the pumped water from each of the pumping well was considered as a main constraint together with the minimum water head which is considered to control saltwater intrusion by heads balances with time. Solutions of the management schemes are based on a linkage between a simulation module SEAWAT and Simulated Annealing (SA) algorithm optimization module. The heads and concentrations, calculated by the simulation model based on pumping rates, are used in a SA optimization procedure to achieve an optimum solution. The five multi-objective management schemes were applied on Um-Qasr coastal aquifer. The results show that using simulation / optimization approach in Um- Qasr region can improve planning and management policies and can give better decision for aquifer utilization. The results show that the aquifer can safely increase its pumping rate by (175%) greater than its current abstraction according to the results of schemes 1.
A large number of RC structures or at least some of their members need strengthening or rehabilitation. Among the typical failure modes, the shear failure is more dangerous and less predictable, because of usually brittle behavior and sudden collapse. Therefore, there are necessities for upgrading the shear capacity and the local ductility of reinforced concrete beams. In this study, four different techniques of concrete jacketing were used to improve the behaviors of the shear deficiencies beams. The four techniques used in this study to enhance the behavior of the beams were by using a Self-Compacted Fiber Reinforced Concrete jacket without stirrups (S.-J. + Steel Fiber), a concrete jacket of Self Compacted Concrete with stirrups (S.-J. + Stirrups), a concrete jacket of ferrocement jacket (S.-J. + Ferrocement), and a concrete jacket of ferrocement jacket with external steel reinforcing bars (S.-J. + Ferrocement + R). These techniques contributed to enhancing the load-carrying capacity and delaying the appearance of the first crack in tested beams compared with the control beam by a percentage of (35, 59, 30, 6) % and (18, 35, 81, 80) %, respectively. The specimen (S.-J. + Stirrups) showed the best performance in comparison with the other used strengthening techniques used in this study in terms of stiffness and the ultimate load-carrying capacity. The ferrocement jacket (S.-J. + Ferrocement) was found to be the most suitable jacketing system used to enhance the shear capacity in terms of cracking load.
Lithium-ion batteries' physical properties classify them as one of the most important sources of clean energy that overcome the need for fuel usage. The rated operating temperature and its uniformity are of the main demands of Lithium-ion batteries. In this survey, several types of studies have been reviewed with the aim of understanding the thermal management systems used to control the temperature of lithium-ion batteries and their uniformity in the battery pack. They are represented by active and passive systems, as well as the hybrid system, which integrates each of the two mentioned systems into a system to obtain the best thermal performance. Active cooling systems were classified due to the type pf coolant used to air and liquid system, meanwhile passive system classified to PCM and heat pipe system. The survey reveals that the air-cooling of lithium-ion battery pack is better than the use of liquids. About 74% of the reviewed works prefer the use of active strategies. The working temperature under normal conditions should be within -20 to 60 °C, meanwhile the optimum range is 15 to 35 °C. The maximum temperature difference between batteries in the pack is preferred to be 5 °C or less.
This study investigates the effect of the shear span-to-effective depth ratio (a/d) on the behavior of high-strength steel fiber–reinforced concrete deep beams without stirrups containing circular web openings. A circular opening of 12.6 cm diameter was positioned at the center of the shear span, and beam performance was evaluated in terms of crack patterns, load–deflection response, and stress–strain behavior. Four specimens were tested experimentally. The control specimen consisted of a solid deep beam without openings and without steel fibers, while the remaining three specimens were reinforced with 1% steel fibers and included circular openings. All specimens were reinforced with 2Ø12 mm top bars, 3Ø16 mm bottom bars, and two stirrups at the supports to prevent local failure. The beams had different shear span ratios (a/d = 0.75, 1.0, and 1.5) and corresponding total lengths of 1025 mm, 1200 mm, and 1550 mm, respectively. All specimens were simply supported and subjected to two-point loading. The experimental results revealed that the optimal shear span ratio for maximum performance was a/d = 0.75 when combined with 1% steel fiber reinforcement. In addition, the ultimate strength of beams with circular openings decreased as a/d increased, with a strength increase of approximately 5.48% at a/d = 0.75 compared with a/d = 1.0.
In this paper, a design procedure which assumes general integer or noninteger order plant models ‘also can be unknown’ has been adopted to tune PID and fractional order PI (FOPI) controller. The design procedure depends on some specifications of frequency response of open loop system to ensure performance and robustness of step response of closed loop system. Firstly, the procedure is applied to integer order conventional PID (IOPID) controller, and then it has been extended to FOPI. Extensive simulation study has been made to investigate the performance of the obtained controllers, and also to compare between the two controllers. The simulation study has showed the validity and that the proposed controllers have good features in all of control demands, where it shows that these controllers have fast rise time with no overshoot and negligible steady state error. Also, it has showed that FOPI controller performs better than IOPID one.
In this paper, a new approach for the positioning (localization) of multi-node systems is presented. Each node including the beacon node contains two types of sensors: one for the distance sensing and the other type is for communication. The main idea of our proposed approach is to use the control of beacon to construct a nodes' tree which is going to be used later by the nodes to know the paths in which the information will flow. During the tree construction the identities of nodes will be known. Every node except the beacon will use the information obtained from its previous neighbor in the tree to find its own location and orientation. Several simulations using visual basic 2012 are implemented to discern the performance of this algorithm.
Supplying drinking water in Al-Dewanyia city to meet Iraqi Drinking Water Guidelines is a challenge as source waters contain high concentrations of Natural Organic Matter (NOM) that often exceed 12 mg/L Dissolved Organic Carbon (DOC). The US EPA indicates that enhanced coagulation is the best available technology to control DOC in drinking water treatment plants. A water director of Al-Qadissiya has used enhanced coagulation at Al-Dewanyia Water Treatment Plants (WTP’s) in Iraq since 2004 to improve water quality in the distribution system. NOM reduction has led to treated water with a lower chlorine demand allowing a greater residual penetration enabling improved bacteriological compliance. Since the cost of DOC (and Disinfection by-product DBPs) determination was high, it was decided to study the traditional analysis of COD as a surrogate measure to detect the organic constituents in raw water and the extent to which optimized coagulation with ferric chloride can increase COD removal. The water samples studied belonged to Al-Dewanyia River. For samples the observed values of COD removal by coagulation at lower pH (about 1-1.5 pH values less than the regular pH (5.8 ~ 8.5)) were about 85-95 percent without making water turbidity unacceptable. In order to determine the effects of organic content on coagulation, The results indicated that a modified coagulation process without need to much increasing the amount of coagulant can be developed for these water samples.
AISI 4330 Low-alloy steel is good material for advanced application because of its properties including strength and longevity. However, performance may be modified with heat treatment procedures, include quenching and tempering. These processes can create residual stresses and retained austenite (RA), which have an effect on the metal's application. these factors influence fatigue life, dimensional stability, and fracture toughness of engineered components. uncontrolled residual stresses can reduce fatigue strength by up to 30%, while optimal retained austenite content (e.g., 5-10%) can enhance damage tolerance. This study focuses on residual stresses and retained austenite measurement in AISI 4330 low-alloy steel after heat treatment. including experimental and simulation methods. The review summarizes many scientific studies published between 2019 and 2024 and shows some main challenges. One challenge is the difference between experimental results (for example, from X-ray diffraction (XRD) and neutron (diffraction) and simulation results (especially using ANSYS software). Another challenge is that different methods for measuring retained austenite can give different results, which can change how we understand the steel's properties. The review also explains new progress in modeling heat treatment. This includes adding phase transformation models to finite element simulations. Future efforts should combine multiscale simulation, characterization, and machine learning to achieve predictive control over these properties in manufacturing.
During the pouring of concrete deck, the installation of external bracing between the inner and outer girders may be necessary when the bridge has sharp curve in order to control the deflection and rotation of the girders. However, it is important to minimize the number of external bracing members, as they have expensive cost and they also have opposite effects for the fatigue features of the steel tub girders. The analysis of curved box girder bridges is carried out numerically by the use of finite element method through (ANSYS 19.2) software. The curved box girder with the intermediate external diaphragms was modeled and the analysis was carried out for many parameters like external bracing sections, girders with or without concrete deck, girders with end diaphragms or without them. The study concluded that ANSYS program has a good ability in evaluating the external bracing force comparing with code equations.
Recently, methods have emerged to assess the vulnerability of groundwater to pollution, which has been adopted by many countries that depend on groundwater as an important and supportive resource for surface water to protect groundwater and monitor and control its pollution. Assessment methods adopt vulnerability maps and compare them with the real-life pollution map of the region. The study was conducted in Al-Teeb area, which is located in the northeast of Missan province, south of Iraq. This area is about 2450 km 2 . This study applied four models DRASTIC, GOD, SINTACS and Modified DRASTIC of vulnerability maps are analyzed using GIS technique and compared with the reality map which represent the nitrate concentration map as a basic comparison map; in order to choose the closest one with respect to the realistic acting. The results showed that 80.29 % of study area is classified under low vulnerability in DRASTIC method and moderate vulnerability in GOD, SINTACS and MD-DRASTIC which are covered 54.12 %, 83.18 % and 72.35 % of study area respectively. Pearson's correlation coefficient was used to compare the four methods with the nitrate concentration map, where the correlation value for DRASTIC, GOD, SINTACS and MD-DRASTIC was 73.05, 49.79, 83.23 and 87.94 %, respectively. So, the MD-DRASTIC is represented the best technique for evaluating vulnerability map in the study area which can be recommended.
The transition to electric vehicles (EVs) is a crucial step towards mitigating climate change and addressing the global energy crisis. The increasing use of lithium-ion batteries in EVs is attributed to their superior power density and efficiency. However, ensuring optimal battery performance and safety necessitates effective thermal management due to the significant heat generated during operation. Current cooling systems face challenges in maintaining the desired temperature range and uniformity. This paper reviews the state-of-the-art techniques in battery thermal management, focusing on phase change material (PCM) cooling and different cooling methods. This study, in accordance with its developments, compares the advantages and limitations of various cooling methods as potential solutions for next-generation EVs. It highlights the potential of method cooling, which, while promising, needs further research to establish its commercial viability and aims to guide future advancements in battery thermal management for next-generation EVs. Under both typical and extreme usage scenarios, direct cooling may enhance the necessary battery performance and serve as an innovative method for managing the temperature of electric vehicle batteries. The primary challenge of this technique lies in its suitability for commercial application. This article is organized to cover the thermal properties of lithium-ion batteries, the main issues associated with lithium-ion battery heat, a discussion of reversible and irreversible heat generation and their effects on battery performance, as well as strategies for preventing and mitigating thermal runaway in battery systems. Finally, it summarizes the key recommendations for future research on battery thermal management.
This study proposed the using of a smart structure principle with a methodology for reducing the difference (error) between the actual position (for a semi-flexible robot) and the theoretically calculated position (for a rigid robot) on- line. The methodology depends on the interfering between the maps of the two cases; the rigid case (ideal), and the deformed case (actual) for compensation of error. According to this methodology, a class (program) was built using the visual Basic.Net; this class is called the compensation class. In this work, a two degrees of freedom articulated type lightweight semi-flexible robot was used. This robot is confined to move in a vertical plane. The smart structure system was represented by; the sensors for measuring the error deformation variables were mounted on the two links of the robot, Data acquisition (DAQ) system and the actuators of the joints. The smart structure robot systems were designed and built in this work. Also, to control the smart structure robot’s systems, software was built using Visual Basic.Net. Compensation tests have been achieved on the complete system to check the performance and results of the compensation system. This system showed a good improvement in the performance of robot for compensation and reduction in the error between the ideal position (rigid robot) and the practical position (measured position). The average error after the compensation reduced to 12.32 times in the x-direction and 21.76 times in the y-direction.
This study focuses on the design and construction of an automated device for evaluating the scratch resistance of polymeric materials by measuring the force required to produce surface scratches and calculating the corresponding friction coefficient from device input–output data. The device was fabricated using locally available materials, with several components manufactured in local mechanical workshops. It comprises four main subsystems: mechanical components, scratching mechanism, electrical and electronic units, and an operating control program. The developed device offers the following specifications: normal load range of 0.1–325 N, sliding speed of 1–35 mm/s, tangential force measurement capacity of 0.1–294 N via a load cell, sample dimensions of 10–195 mm in length, 10–125 mm in width, and 0.25–50 mm in thickness, a maximum scratch length of 195 mm, and an adjustable indenter height ranging from 0.25 to 50 mm above the platform surface. Scratch testing and friction coefficient measurements were conducted on pure PMMA and PMMA reinforced with silicon dioxide (SiO₂) nanoparticles. Experimental results demonstrated increased scratch resistance and reduced friction coefficients with higher SiO₂ weight ratios. Additionally, the performance evaluation confirmed that the designed device is capable of accurately and rapidly measuring the tangential forces associated with scratching through a simple operational procedure.
In this paper, a universal testing machine and an impact testing apparatus have been upgraded by using a high- accuracy data acquisition and control system interfaced to a personal computer with proper sensors and actuators. The purpose of upgrade is to increase the accuracy of the measurements and to perform advanced material testing procedures that are not possible with the old configuration. The modernization process not only permits the accurate data acquisition and convenient operation but also the ability to study the effect of strain rate on the tensile properties of materials. Also, an experimental study of the response of CFRP (Carbon Fiber Reinforced Plastic) material to low and intermediate strain rates has been carried out.
Evaporative cooling is a widely used energy-saving and environmentally friendly cooling technology. Evaporative cooling can be defined as a mass and heat transfer process in which the air is cooled by the evaporation of water and as a result a large amount of heat is transferred from the air to the water and thus the air temperature decreases. Evaporative cooling is mainly used in many cooling technologies used in buildings, factories, agricultural in addition to it is used industrially in cooling towers, evaporative condensers, humidification, and humidity control applications. Evaporative cooling is divided into direct evaporative cooling and indirect evaporative cooling, as well as water evaporative cooling and air evaporative cooling. This paper reviews the most important developments and technologies in evaporative cooling that lead to lower energy consumption and provide suitable cooling comfort.
The surge tank is one of important control devices in reducing water Hummer effect on distributed network piping system and hydropower stations. An experimental study was conducted into a simple surge tank of 0.044 m in a diameter with upstream constant head reservoir of a height, 0.881 m and a water transporting pipe of a size 0.0202 m. Results indicate that rapid closure of a downstream valve causes under-damped stable oscillation in a surge tank. Experimental response agreed well with theoretical results when friction factor is considered to be variable, but with 85 % increases in settle time and more oscillations when constant friction factor is recognized at initial value before valve closure. Doubling surge tank area does not improve the dynamics properties; otherwise, Thoma area must be avoided for small sizes. Comsol multiphysics software 3.5 is used to deal with the dynamics of the surge tank numerically.
Smart prostheses hands have seen vast advancement in recent years. Amputees with upper hand loss have better access to intelligent prostheses that help them with their daily life activities. Smart prostheses however are still in development and have a few disadvantages, such as being expensive, complex, require training and being error prone in some cases. In this paper a simple, cost effective, practical upper limb prosthetic device is proposed that uses pressure sensors to acquire the action intent from the amputees. The pressure sensor serves as input signal to the Control Unit (CU). Using a selector keyboard, the amputee can choose between five predefined movements. The advantages of the proposed system compared to other prostheses using EMG, EEG, Voice is design simplicity and cost. The approximate cost of the proposed prosthetic hand is less than 200$. In addition, some of the complexities and error prone properties of the other alternatives are avoided and less probability of use fatigue is achieved.
Using simple analytical procedure, a tuning rules for two degree of freedom (2-DOF) PI/PID controllers are presented. The proposed tuning algorithm assumes first order plus delay time and second order plus delay time as plant models to be controlled. The validity and features of the proposed tuning rules have been investigated by computer simulation study. Simulation study showed that the presented controllers have high performance response for step input changes and also that these rules are robust for load disturbance.
Formation control is a critical task in the coordination of multi-mobile robot systems operating in structured environments with limited local knowledge and low-cost hardware. Achieving reliable formations requires effective localization, path planning, and obstacle avoidance capabilities. This study presents a static strategy for forming polygon-shaped configurations using multiple mobile robots. The proposed strategy improves formation efficiency by employing a cluster matching algorithm instead of the conventional triangulation approach to complete the formation process. In addition, the visibility binary tree algorithm and the reciprocal orientation algorithm are integrated to enhance robot coordination and spatial awareness. Simulation results demonstrate that the proposed strategy achieves superior performance in multi-robot formation tasks, offering improved efficiency and robustness compared with traditional triangulation-based methods.
A part of Basra water network which is near to Bradia water treatment plant is analyzed by using water cad program, water cad is also used for studying the water quality in the model by calculating the age and chlorine concentration for each pipe on the model. This model consist of (21)pipe ,(15)node or junction ,(6)loops, two water pumps one is operated and the second is stand by(each pump has a discharge equal to 0.6 mP3P/sec and a head of 60 m and an electrical control which related with the elevation of water in the tank),one elevated tank &one reservoir of water. The model studied hydraulically for two cases, the first case when the pump is power on and the second case when the pump is power off. Also the direction and discharge for each pipe are calculated. Different results are obtained in two cases. Also the results of water quality studies show that both the age of water and chlorine concentration at any pipe depended on its location with respect to the water treatment plant. Finally the calibration of the model is done in order to check the accuracy of the results.
In this paper, a second order Sliding Mode Controller (SMC), based on Super – Twisting algorithm, Fuzzy estimator and PID controller is presented for quarter vehicle active suspensions. Because of the chattering that appeared at the output of the system when using first order SMC, second order SMC is preferred. The proposed controller has been derived in order to achieve the convergence and the stability of the system that can improve the comfortable driving and vehicles safety against different road disturbances. The Artificial Bee Colony optimization method has been utilized to find the optimal values of the proposed controller parameters. The obtained results of the simulations have been verified the efficiency and the ability of the proposed control scheme to suppress the oscillations and give the stability of the suspension system in the presence of uncertainty and different road disturbances.