Proxy-based sliding mode control PSMC is an improved version of PID control that combines the features of PID and sliding mode control SMC with continuously dynamic behaviour. However, the stability of the control architecture maybe not well addressed. Consequently, this work is focused on modification of the original version of the proxy-based sliding mode control PSMC by adding an adaptive approximation compensator AAC term for vibration control of an Euler-Bernoulli beam. The role of the AAC term is to compensate for unmodelled dynamics and make the stability proof more easily. The stability of the proposed control algorithm is systematically proved using Lyapunov theory. Multi-modal equation of motion is derived using the Galerkin method. The state variables of the multi-modal equation are expressed in terms of modal amplitudes that should be regulated via the proposed control system. The proposed control structure is implemented on a simply supported beam with two piezo-patches. The simulation experiments are performed using MATLAB/SIMULINK package. The locations of piezo-transducers are optimally placed on the beam. A detailed comparison study is implemented including three scenarios. Scenario 1 includes disturbing the smart beam while no feedback loop is established (open-loop system). In scenario 2, a PD controller is applied on the vibrating beam. Whereas, scenario 3 includes implementation of the PSMC+AAC. For all previously mentioned scenarios, two types of disturbances are applied separately: 1) an impulse force of 1 N peak and 1 s pulse width, and 2) a sinusoidal disturbance with 0.5 N amplitude and 20 Hz frequency. For impulse disturbance signals, the results show the superiority of the PSMC+AAC in comparison with the conventional PD control. Whereas, both the PSMC+ACC and the PD control work well in the case of a sinusoidal disturbance signal and the superiority of the PSMC is not clear.
The establishment of a high quality service in oral health care achieved by a member of dental professional is an important feature of any system of peer review in dentistry. This protocol attempts to discuss two crucial elements (I) suitability and feasibility of treatment modality and (II) quality of treatment performed to Iraqi patients. The Iraq endodontic society is designing a standardized protocol for endodontic treatment following the quality guidelines of European society of Endodontology (2006) to meet the highest standard of care generally given by competent practitioners. The Iraqi endodontic society has the expertise and professional responsibility clinically relevant to empower the dental profession through creating significan
... Show MorePinter's play One for the Road (1984) is considered one of his important plays because
it focuses on political issues, which he has not presented overtly before. Generally speaking,
Pinter's early plays describe man's existential fear of an unnamed danger which might be
represented by an intruder who invades the characters' solitude , threatens their peace, and
brings their hidden fears to the surface. Pinter began to write political plays as a result of his
political attitudes and his involvement in political activities over the last three decades.
Pinter's One for the Road deals with the oppressive and authoritarian operations of
state power. This play and Pinter's political plays which followed it, like Mountain
Background: Hashimoto's thyroiditis has been found to coexist with differentiated thyroid cancer in surgical specimens, but an association between the two conditions has been discounted by the medical literature. So, we performed this research to determine any potential relationship between Hashimoto's thyroiditis and the risk of developing differentiated thyroid cancer in clinical status. we assessed the related clinical factors linking these conditions, especially serum thyroid-stimulating hormone concentration, family history of thyroid disease, gender& young age group. Aim of study: to determine that hashimoto’s thyroiditis increases risk for differentiated thyroid carcinoma. Patients and method: This study is a Cross-sectiona
... Show MoreThe GPS navigation measurements become more widely used in many civilian and scientific application. All GPS navigation data holds many errors, the main error sources arise from the geodetic Datum variation when user apply the GPS measurements with the map. Geodetic datums define the size and shape of the earth and the origin and orientation of the coordinate systems used to map the earth surface. In this paper, the Datum transformation was evaluated in two mathematical methods to overcome the errors due to the difference between the WGS-84 and our country Datum Clarck-1880. The results was evaluated and investigated using Carmin GPS device for GCPs comparison, topographic map for Hilla city, mid Iraq 1:100000 scale, and two georefrencing
... Show MoreThe present calculation covers the building shield during irradiation process and under water storage of three milion curries Cobalt-60 radiation source the calculation results in design requirement of 8m depth of water in the source stoeage pool
In this paper, a literature survey was introduced to study of enhancing the hazy images , because most of the images captured in outdoor images have low contrast, color distortion, and limited visual because the weather conditions such as haze and that leads to decrease the quality of images capture. This study is of great importance in many applications such as surveillance, detection, remote sensing, aerial image, recognition, radar, etc. The published researches on haze removal are divided into several divisions, some of which depend on enhancement the image, some of which depend on the physical model of deformation, and some of them depend on the number of images used and are divided into single-image and multiple images dehazing model
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