Preferred Language
Articles
/
RxdVaJIBVTCNdQwC-a92
Design of Robust Terminal Sliding Mode Control for Underactuated Flexible Joint Robot
...Show More Authors

Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is constructed to estimate states and lumped disturbance in a finite time based on two measurable states, which not only attenuates the measurement noise but also reduces the peaking phenomenon. The closed-loop stability and the finite-time convergence are rigorously proved by using Lyapunov theorem. The upper bound of the finite convergence time is derived for the reaching and sliding phase. Comparative study is conducted experimentally in real time on the FJR manipulator to verify the effectiveness of the proposed control method.

Scopus Clarivate Crossref
View Publication
Publication Date
Thu Jun 27 2024
Journal Name
International Journal Of Heat And Technology
Experimental and Theoretical Study of a Novel Hydraulic Fluid Flow Control Method
...Show More Authors

View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
Enhancement of Hybrid Solar Air Conditioning System using a New Control Strategy
...Show More Authors

Enhancement of the performance for hybrid solar air conditioning system was presented in this paper. The refrigerant temperature leaving the condenser was controlled using three-way valve, this valve was installed after the compressor to regulate refrigerant flow rate towards the solar system. A control system using data logger, sensors and computer was proposed to set the opening valve ratio. The function of control program using LabVIEW software is to obtain a minimum refrigerant temperature from the condenser outlet to enhance the overall COP of the unit by increasing the degree of subcooled refrigerant. A variable load electrical heater with coiled pipe was used instead of the solar collector and the storage tank to simulate the sola

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Sep 30 2011
Journal Name
Al-khwarizmi Engineering Journal
Fuzzy Control of the Robotic Hands Catching Force Using Muscle Wires Actuator
...Show More Authors

The aim of this research is controlling the amount of the robotic hand catching force using the artificial muscle wire as an actuator to achieve the desired response of the robotic hand in order to catch different things without destroying or dropping them; where the process is to be similar to that of human hand catching way. The proper selection of the amount of the catching force is achieved through out simulation using the fuzzy control technique. The mechanism of the arrangement of the muscle wires is proposed to achieve good force selections. The results indicate the feasibility of using this proposed technique which mimics human reasoning where as the weight of the caught peace increases, the force increases also with approximatel

... Show More
View Publication Preview PDF
Publication Date
Wed May 01 2019
Journal Name
Iop Conference Series: Materials Science And Engineering
The impact of UAV flight planning parameters on topographic mapping quality control
...Show More Authors
Abstract<p>There is a growing need for up-to-date data for rapid decision making in the modern digital age. Recently, the need for high-resolution topographic maps is highly demanding by most mapping clients. With the maturing automatic structure from mobile and multi-view stereoscopy software, small organizations and individuals now have the ability to make their own surveys based on mobile mapping devices. This study looks at how feasible using low-cost Unmanned Aerial Vehicle (UAV) as a mobile mapping device for photogrammetric topographical surveys. It is showing the impact of different UAV flight settings and parameters on the accuracy of mapping products. An automatic scenario for photogra</p> ... Show More
View Publication
Scopus (15)
Crossref (11)
Scopus Clarivate Crossref
Publication Date
Mon Jan 08 2024
Journal Name
Al-academy
Formal-semantic metaphor in print advertising design
...Show More Authors

The research problem lay in the existing of this direct relation between the increasing and the big variety of the goods and the producing companies which mean the increase of the competition and the directing techniques of the commercial advertisings, which become spread everywhere and in an age characterized with the great varieties in the tests and the stances which requires the designers to seek designing accomplishments that are characterized with creativeness , seriousness and unsallity through the designer depending in constructing his / her texts and his/ her visual items on reference forms metaphors to achieve his / her designing purposes.
So the researcher through her primary flying study seek the identifying the manner of

... Show More
View Publication Preview PDF
Publication Date
Tue Mar 01 2016
Journal Name
Al-academy
Metaphor in product design: قيس والي عباس
...Show More Authors

Addresses current research to the subject of metaphor as a field important in the design of industrial product, so it was a problem search: Does industrial product which is designed mainly to reflect the principle of metaphor role in receiving, and how the application of mechanisms theory correct as stipulated in institutions metaphor properly for this orientation in achieving those metaphors. What are the relations of reciprocity that influenced the establishment of the design and construction of the system for industrial product, the objectives of the research were standing on the interactive nature of the relations between the metaphor and the process of industrial product design? And identify strengths and weaknesses in the processes

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Jun 11 2017
Journal Name
Al-academy
Processors Functional Design In Public Interior Spaces
...Show More Authors

It is general known that any design in various fields such as the interior design in the field of spaces interior for the public and specific buildings that is concern about the use of humans resident , as well as other considerations relating to the organization of design elements and lines of locomotors activity and the validity of appropriate receiving to provide comfort and achieve the requirements of the position in the space of restaurants field of research.
The researcher choose the title of this study (processors design career in public spaces), the analytical study of the spaces of restaurants, as one of the public spaces that are running in their general environment of people in various strata , ages and other levels , whic

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Jul 27 2023
Journal Name
Journal Of Design And Textiles
Defining the Design Process: Methodology and Creation
...Show More Authors

The current study is unique in its emphasis on investigating design operation and concept from multiple scientific perspectives: including invention, technique, and design components. This research tends to study the methodology and creation of design process in a holistic manner so that the readers may grasp their characteristics and properties down to its minute epistemological detail. The investigation of the design concept is where the real groundwork and pressing need for the study begin. Creation and methodology are two primary concepts in relation to design these relationships can be formed in any design because of the various forces that act upon it. The primordial objective of this study is to evaluate the relationship betw

... Show More
View Publication
Crossref (1)
Crossref
Publication Date
Wed Feb 01 4012
Journal Name
Review Of International Geographical Education
The Intellectual Luxury in The Interior Design…
...Show More Authors

The interior spaces were and still represent the changing intellectual physical entity that uses its changing elements to renew its constants in formulas that respond to the needs and requirements, and with the passage of time the interior spaces have become not based on the size and type of their content only, but their design has become a design and artistic value that corresponds to its content and surpasses it with unfamiliar processes. As its designers led the creative of design with a variety of thinking methods from thought to reality to manifest itself in its tangible form, so we conducted a study that dealt with the problem of research, and purpose, and the theoretical framework included two topics, the first: Intellectual luxury a

... Show More
Publication Date
Tue Jan 06 2004
Journal Name
Iraqi Journal Of Science
Cluster and factor analyses R and Q mode technique of geochemical and petrological data of the Shalair Metamorphic Rock Group, Shalair Valley area, Northeastern Iraq
...Show More Authors