Preferred Language
Articles
/
L-ZG1p0BmraWrQ4dx1yd
Design of modified fractional-order PID controller for lower limb rehabilitation exoskeleton robot based on an improved elk herd hybridized with grey wolf and multi-verse optimization algorithms
...Show More Authors

Rehabilitation robots are widely recognized as vital for restoring motor function in patients with lower-limb impairments. A Modified Fractional-Order Proportional-Integral-Derivative (MFOPID) controller is proposed to improve trajectory tracking of a 2-DoF Lower Limb Rehabilitation Exoskeleton Robot (LLRER). The classical FOPID is augmented with a modified control formulation by which steady-state error is reduced and the transient response is sharpened. Controller gains and fractional orders were tuned offline using a hybrid metaheuristic Improved Elk Herd Optimization hybridized with Grey Wolf and Multi-Verse Optimization algorithms (IElk-GM) so that exploration and exploitation are balanced. Superiority over the classical FOPID was demonstrated in simulations under linear and nonlinear trajectories, with disturbances and parametric uncertainty: 0% overshoot was achieved at both hip and knee joints; settling time was reduced from 6.998 s to 0.430 s (hip) and from 7.150 s to 0.829 s (knee); ITAE was reduced from 23.39 to 2.694 (hip) and from 16.95 to 3.522 (knee); and the hip steady-state error decreased from 0.018 Rad to 0.0015 Rad, while the knee steady-state error remained within 0.011 Rad. Control torques remained bounded under linear tracking (<345 N·m at the hip; <95 N·m at the knee) and under nonlinear cosine tracking (<350 N·m at the hip; <100 N·m at the knee). These results indicate that safer, smoother, and more effective robot-assisted rehabilitation can be supported by the proposed controller.

Scopus Crossref
View Publication
Publication Date
Sat Oct 09 2021
Journal Name
Applied System Innovation
Design and Optimization of Vertical Axis Wind Turbines Using QBlade
...Show More Authors

Wind energy is considered one of the most important sources of renewable energy in the world, because it contributes to reducing the negative effects on the environment. The most important types of wind turbines are horizontal and vertical axis wind turbines. This work presents the full details of design for vertical axis wind turbine (VAWT) and how to find the optimal values of necessary factors. Additionally, the results shed light on the efficiency and performance of the VAWT under different working conditions. It was taken into consideration the variety of surrounding environmental conditions (such as density and viscosity of fluid, number of elements of the blade, etc.) to simulate the working of vertical wind turbines under di

... Show More
Scopus (26)
Crossref (29)
Scopus Clarivate Crossref
Publication Date
Fri Feb 01 2019
Journal Name
Iraqi Journal Of Information & Communications Technology
Evaluation of DDoS attacks Detection in a New Intrusion Dataset Based on Classification Algorithms
...Show More Authors

Intrusion detection system is an imperative role in increasing security and decreasing the harm of the computer security system and information system when using of network. It observes different events in a network or system to decide occurring an intrusion or not and it is used to make strategic decision, security purposes and analyzing directions. This paper describes host based intrusion detection system architecture for DDoS attack, which intelligently detects the intrusion periodically and dynamically by evaluating the intruder group respective to the present node with its neighbors. We analyze a dependable dataset named CICIDS 2017 that contains benign and DDoS attack network flows, which meets certifiable criteria and is ope

... Show More
View Publication Preview PDF
Crossref (22)
Crossref
Publication Date
Thu Jun 15 2023
Journal Name
International Journal On Engineering, Science And Technology
EEG Neuro-markers to Enhance BCI-based Stroke Patients Rehabilitation
...Show More Authors

Stroke is the second largest cause of death worldwide and one of the most common causes of disability. However, several approaches have been proposed to deal with stroke patient rehabilitation like robotic devices and virtual reality systems, researchers have found that the brain-computer interfaces (BCI) approaches can provide better results. In this study, the electroencephalography (EEG) dataset from post-stroke patients were investigated to identify the effects of the motor imagery (MI)-based BCI therapy by investigating sensorimotor areas using frequency and time-domain features and to select particular methods that help in enhancing the MI-based BCI systems for stroke patients using EEG signal processing. Therefore, to detect

... Show More
View Publication
Crossref
Publication Date
Tue Jul 09 2024
Journal Name
Diagnostics
A Novel Hybrid Machine Learning-Based System Using Deep Learning Techniques and Meta-Heuristic Algorithms for Various Medical Datatypes Classification
...Show More Authors

Medicine is one of the fields where the advancement of computer science is making significant progress. Some diseases require an immediate diagnosis in order to improve patient outcomes. The usage of computers in medicine improves precision and accelerates data processing and diagnosis. In order to categorize biological images, hybrid machine learning, a combination of various deep learning approaches, was utilized, and a meta-heuristic algorithm was provided in this research. In addition, two different medical datasets were introduced, one covering the magnetic resonance imaging (MRI) of brain tumors and the other dealing with chest X-rays (CXRs) of COVID-19. These datasets were introduced to the combination network that contained deep lea

... Show More
View Publication
Scopus (8)
Crossref (10)
Scopus Clarivate Crossref
Publication Date
Mon Jun 01 2009
Journal Name
Journal Of Economics And Administrative Sciences
Use of lower squares and restricted boxes In the estimation of the first-order self-regression parameter AR (1) (simulation study)
...Show More Authors

Use of lower squares and restricted boxes
In the estimation of the first-order self-regression parameter
AR (1) (simulation study)

View Publication Preview PDF
Crossref
Publication Date
Tue Mar 12 2019
Journal Name
Al-khwarizmi Engineering Journal
Die Design of Flexible Multi-Point Forming Process
...Show More Authors

Multi-point forming (MPF) is an advanced flexible manufacture technology, and the technology results from the idea that the whole die is separated into small punches that can be adjusted height. This idea is applied to the traditional rigid blank-holder, so flexible blank-holder (FBH) idea can be obtained. In this work, the performance of a multi-point die is investigated with pins in square matrix and suitable blank holder. Each pin in the punch holder can be a significant moved according to the die high and at different load that applied with spring with respect to spring stiffness. The results shows the reduction in setting time with respect to traditional single point incremental forming process that lead to (90%). and also show duri

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Fri Apr 30 2021
Journal Name
International Journal Of Intelligent Engineering And Systems
SMS Spam Detection Based on Fuzzy Rules and Binary Particle Swarm Optimization
...Show More Authors

View Publication
Scopus (13)
Crossref (6)
Scopus Crossref
Publication Date
Fri Jan 01 2021
Journal Name
Computers, Materials & Continua
Fused and Modified Evolutionary Optimization of Multiple Intelligent Systems Using ANN, SVM approaches
...Show More Authors

View Publication
Scopus (6)
Crossref (6)
Scopus Clarivate Crossref
Publication Date
Tue Aug 24 2021
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
A plan for transportation and distribution the products based on multi-objective travelling salesman problem in fuzzy environmental
...Show More Authors

Transportation and distribution are the most important elements in the work system for any company, which are of great importance in the success of the chain work. Al-Rabee factory is one of the largest ice cream factories in Iraq and it is considered one of the most productive and diversified factories with products where its products cover most areas of the capital Baghdad, however, it lacks a distribution system based on scientific and mathematical methods to work in the transportation and distribution processes, moreover, these processes need a set of important data that cannot in any way be separated from the reality of fuzziness industrial environment in Iraq, which led to use the fuzzy sets theory to reduce the levels of uncertainty.

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (1)
Scopus Crossref
Publication Date
Sun Nov 01 2020
Journal Name
Iop Conference Series
Modified PRESENT Encryption algorithm based on new 5D Chaotic system
...Show More Authors

Cryptography is a major concern in communication systems. IoE technology is a new trend of smart systems based on various constrained devices. Lightweight cryptographic algorithms are mainly solved the most security concern of constrained devices and IoE systems. On the other hand, most lightweight algorithms are suffering from the trade-off between complexity and performance. Moreover, the strength of the cryptosystems, including the speed of the algorithm and the complexity of the system against the cryptanalysis. A chaotic system is based on nonlinear dynamic equations that are sensitive to initial conditions and produce high randomness which is a good choice for cryptosystems. In this work, we proposed a new five-dimensional of a chaoti

... Show More
Scopus (13)
Crossref (8)
Scopus Crossref