Preferred Language
Articles
/
alkej-459
Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
...Show More Authors

Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order  PIaDb (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to  torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of mobile robot was driven for the case where the centroid  of mobile robot platform is not coincide with reference frame of mobile robot (i.e. reference frame is located at midpoint of driven wheels axis), while the inertia is counted for. The Evolutionary Algorithm has been used to modified the parameters (Kp, Kd, Ki,a, and b) of the FOPID controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm: that is demonstrated by applied this controller at four case studies (Circular trajectory, S-shape trajectory, Infinity trajectory, and Line trajectory at two cases, with presences of disturbance and without), these results shows good matching between desired trajectory and simulation one while error in posture goes to zero rapidly.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Tue Dec 20 2022
Journal Name
2022 International Conference On Computer And Applications (icca)
Design Mobile Application for Blood Donation System
...Show More Authors

View Publication
Scopus (2)
Crossref (4)
Scopus Crossref
Publication Date
Sat Sep 10 2022
Journal Name
Pakistan Journal Of Statistics And Operation Research
Continuous wavelet estimation for multivariate fractional Brownian motion
...Show More Authors

 In this paper, we propose a method using continuous wavelets to study the multivariate fractional Brownian motion through the deviations of the transformed random process to find an efficient estimate of Hurst exponent using eigenvalue regression of the covariance matrix. The results of simulations experiments shown that the performance of the proposed estimator was efficient in bias but the variance get increase as signal change from short to long memory the MASE increase relatively. The estimation process was made by calculating the eigenvalues for the variance-covariance matrix of Meyer’s continuous wavelet details coefficients.

View Publication Preview PDF
Scopus (5)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Sat Sep 10 2022
Journal Name
Pakistan Journal Of Statistics And Operation Research
Continuous wavelet estimation for multivariate fractional Brownian motion
...Show More Authors

 In this paper, we propose a method using continuous wavelets to study the multivariate fractional Brownian motion through the deviations of the transformed random process to find an efficient estimate of Hurst exponent using eigenvalue regression of the covariance matrix. The results of simulations experiments shown that the performance of the proposed estimator was efficient in bias but the variance get increase as signal change from short to long memory the MASE increase relatively. The estimation process was made by calculating the eigenvalues for the variance-covariance matrix of Meyer’s continuous wavelet details coefficients.

View Publication
Scopus (5)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Sun Jun 07 2015
Journal Name
Baghdad Science Journal
A Solution of Second Kind Volterra Integral Equations Using Third Order Non-Polynomial Spline Function
...Show More Authors

In this paper, third order non-polynomial spline function is used to solve 2nd kind Volterra integral equations. Numerical examples are presented to illustrate the applications of this method, and to compare the computed results with other known methods.

View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Wed Jan 22 2020
Journal Name
Iraqi Journal Of Laser
Stress Urinary Incontinence Treatment Using Vaginal Fractional CO2 Laser (10600nm)
...Show More Authors

Stress urinary incontinence (SUI) is involuntary urine leakage during activities that increase abdominal pressure such as coughing, sneezing and lifting of heavy weights. This is a very common disorder among women with history of multiple vaginal deliveries with an obstructed labor. SUI is considered one of the most distressing problems, especially for younger women, with severe quality of life implications, it caused by the loss of urethral support, usually as a consequence of the supporting structural muscles in the pelvis.

Objective: To prove and demonstrate the effect of a fractional CO2 micro-ablative laser (10600nm) in intra vaginal therapy for treating SUI and achieve a clinical improvement of t

... Show More
View Publication Preview PDF
Publication Date
Sun Nov 01 2020
Journal Name
Iraqi Journal Of Laser
Treatment of facial acne scar using Fractional Er: YAG laser
...Show More Authors

Background: Acne is a common disorder experienced by adolescents and persists into adulthood in approximately 12%–14% of cases with psychological and social implications of high gravity. Fractional resurfacing employs a unique mechanism of action that repairs a fraction of skin at a time. The untreated healthy skin remains intact and actually aids the repair process, promoting rapid healing with only a day or two of downtime. Aims: This study, was designed to evaluate the safety and effectiveness of fractional photothermolysis (fractionated Er: YAG laser 2940nm) in treating atrophic acne scars. Methods: 7 females and 3 males with moderate to severe atrophic acne scarring were enrolled in this study that attained private clinic for Derm

... Show More
View Publication Preview PDF
Publication Date
Wed Jul 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A new technique for solving fractional nonlinear equations by sumudu transform and adomian decomposition method
...Show More Authors

A novel technique Sumudu transform Adomian decomposition method (STADM), is employed to handle some kinds of nonlinear time-fractional equations. We demonstrate that this method finds the solution without discretization or restrictive assumptions. This method is efficient, simple to implement, and produces good results. The fractional derivative is described in the Caputo sense. The solutions are obtained using STADM, and the results show that the suggested technique is valid and applicable and provides a more refined convergent series solution. The MATLAB software carried out all the computations and graphics. Moreover, a graphical representation was made for the solution of some examples. For integer and fractional order problems, solutio

... Show More
Publication Date
Mon Jan 26 2026
Journal Name
Iraqi Journal Of Science
Magnetohydrodynyamic Flow for a Viscoclastic Fluid with the Generalized Oldroyd-B Model with Fractional Derivative
...Show More Authors

This paper deals with the Magnetohydrodynyamic (Mill)) flow for a viscoclastic fluid of the generalized Oldroyd-B model. The fractional calculus approach is used to establish the constitutive relationship of the non-Newtonian fluid model. Exact analytic solutions for the velocity and shear stress fields in terms of the Fox H-function are obtained by using discrete Laplace transform. The effect of different parameter that controlled the motion and shear stress equations are studied through plotting using the MATHEMATICA-8 software.

View Publication Preview PDF
Publication Date
Tue Sep 01 2020
Journal Name
Baghdad Science Journal
Some Game via Ἷ-Semi-g-Separation Axioms
...Show More Authors

The research demonstrates new species of the games by applying separation axioms via  sets, where the relationships between the various species that were specified and the strategy of winning and losing to any one of the players, and their relationship with the concepts of separation axioms via  sets have been studied.

View Publication Preview PDF
Scopus Clarivate Crossref
Publication Date
Thu Mar 14 2019
Journal Name
Al-khwarizmi Engineering Journal
Creeping Gait Analysis and Simulation of a Quadruped Robot
...Show More Authors

A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends up

... Show More
View Publication Preview PDF
Crossref (5)
Crossref