PID (proportional-integral-derivative) and Mu controllers are widely used in electro-hydraulic servo systems due to their effectiveness and ease of implementation. This paper explores using particle swarm optimization (PSO) for tuning traditional and robust PID controllers, along with D-K iteration for Mu controller tuning. Three controller types: conventional PID (CPID), robust PID (RPID), and structured singular value controllers are developed, while analyzing multiplicative uncertainty with six uncertain coefficients. Their findings indicated that both PID (CPID and RPID) and Mu controllers maintained system stability. Notably, the Mu controller can handle coefficient uncertainty without a pure integral term, while the RPID controller demonstrated superior performance and reliability. Ultimately, both RPID and Mu controllers provide effective solutions for optimal performance, outperforming CPID in terms of robustness © 2025 IEEE.
Simplifying formulas that are used for calculations and design are the aim of researchers. For present work, the approach to distinguish the flow under sluice gate was conducted in a laboratory. The extensive experimental program was done to collect fifty-four data points for both free and submerged flow conditions. The data included different discharges, gate openings, flow depths at upstream as well as the flow depths represent a tail water and at a contracted section for downstream. The collected data are analyzed according to a problematic that may encounter in the field, to present a more straightforward (but with acceptable accurate) practical features equations and charts. Based on the proposed formulas, five meth
... Show MoreLittoral and benthic invertebrates from Roundwood Reservoir System were sampled. Oligochaetes and molluscs were the dominant organisms in the littoral and benthic areas Trichopterans and chironomids were the most abundant insect groups. Scuba diving samples reinforced that view. Other groups of macroinvertebrates were poorly represented. Vertical and horizontal hauls of zooplankton revealed that there were twelve species of zooplankton present. Daphnia hyalina Leydig and Bosmina coregoni Baird were the two dominant species.
Autonomous systems are these systems which power themselves from the available ambient energies in addition to their duties. In the next few years, autonomous systems will pervade society and they will find their ways into different applications related to health, security, comfort and entertainment. Piezoelectric harvesters are possible energy converters which can be used to convert the available ambient vibration energy into electrical energy. In this contribution, an energy harvesting cantilever array with magnetic tuning including three piezoelectric bimorphs is investigated theoretically and experimentally. Other than harvester designs proposed before, this array is easy to manufacture and insensitive to manufacturi
... Show MoreAn assembled pulsed Nd:YAG laser-robot system for spot welding similar and dissimilar metals is presented in this paper. The study evaluates the performance of this system through investigating the possibility and accuracy of executing laser spot welding of 0.2 mm in thickness stainless steel grade AISI302 to 0.5 mm in thickness low carbon steel grade AISI1008. The influence of laser beam parameters (peak power, pulse energy, pulse duration, repetition rate, and focal plane position on the final gained best results are evaluated. Enhancement of the experimental results was carried by a computational simulation using ANSYS FLUENT 6.3 package code.
One and two-dimensional hydraulic models simulations are important to specify the hydraulic characteristics of unsteady flow in Al-Gharraf River in order to define the locations that facing problems and suggesting the necessary treatments. The reach in the present study is 58200m long and lies between Kut and Hai Cities. Both numerical models were simulated using HEC-RAS software, 5.0.4, with flow rates ranging from 100 to 350 m3/s. Multi-scenarios of gates openings of Hai Regulator were applied. While the openings of Al-Gharraf Head Regulator were ranged between 60cm to fully opened. The suitable manning roughness for the unsteady state was
... Show MoreMost researchers concentrate their studies on the design, stress and pressure distributions of the prosthetic socket. A little attention is considered for the stiffness of the various materials of the prosthetic sockets. Prosthetic laminated sockets in Iraq are costly to be manufactured while polypropylene socket is relatively cheap in comparing with the laminates.
Experimental study is conducted to compare the stiffness of five prosthetic sockets made of different materials. Compression, three point flexural and tensile tests are implemented by the Testometric machine. The laminate sockets give better results in compression than polypropylene. Polypropylene gives good results in bending compared with the laminate sockets. When t
... Show MoreOver the years, the prediction of penetration rate (ROP) has played a key rule for drilling engineers due it is effect on the optimization of various parameters that related to substantial cost saving. Many researchers have continually worked to optimize penetration rate. A major issue with most published studies is that there is no simple model currently available to guarantee the ROP prediction.
The main objective of this study is to further improve ROP prediction using two predictive methods, multiple regression analysis (MRA) and artificial neural networks (ANNs). A field case in SE Iraq was conducted to predict the ROP from a large number of parame