Trajectory tracking and vibration suppression are essential objectives in a flexible joint manipulator control. The flexible joint manipulator is an under-actuated system, in which the number of control actions is less than the degree of freedom to be controlled. It is very challenging to control the underactuated nonlinear system with two degree of freedom. This paper presents a hierarchical sliding mode control (HSMC) for a rotary flexible joint manipulator (RFJM). Firstly, the rotary flexible joint manipulator is modeled by two subsystems. Secondly, the sliding surfaces for both subsystems are constructed. Finally, the control action is designed based on the Lyapunov function. Computer simulation results demonstrate the effectiveness of the proposed control. The comparative study shows the proposed method has superior performance than the conventional sliding mode control by achieving the controlled objectives such as a satisfactory tracking performance and an acceptable vibration reduction for the single link flexible joint robot manipulator.
This study deals with the aircraft wing analysis (numerical and experimental) which subjected to fatigue loading in order to analyze the aircraft wing numerically by using ANSYS 15.0 software and experimentally by using loading programs which effect on fatigue test specimens at laboratory to estimate life of used metal (aluminum alloy 7075-T651) the wing metal and compare between numerical and experimental work, as well as to formulate an experimental mathematical model which may find safe estimate for metals and most common alloys that are used to build aircraft wing at certain conditions. In experimental work, a (34) specimen of (aluminum alloy 7075-T651) were tested using alternating bending fatigue machine rig. The t
... Show MoreExposure of reinforced concrete buildings to an accidental fire may result in cracking and loss in the bearing capacity of their major components, columns, beams, and slabs. It is a challenge for structural engineers to develop efficient retrofitting techniques that enable RC slabs to restore their structural integrity, after being exposed to intense fires for a long period of time. Experimental
investigation was carried out on twenty one slab specimens made of self compacting concrete, eighteen of them are retrofitted with CFRP sheets after burning and loading till failure while three of them (which represent control specimens) are retrofitted with CFRP sheet after loading till failure without burning. All slabs had been tested in a
Test results of nine reinforced concrete one way slab with and without lacing reinforcement are reported. The tests were designed to study the effect of the lacing reinforcement on the flexural response of one way slabs. The test parameters were considered is the lacing steel ratios of (0, 0.0025, 0.0045, and 0.0065), flexural steel ratios of (0.0025, 0.0045, and 0.0065) and span to the effective depth ratios of (11, 13, and 16). Two specimens had no lacing reinforcement and the remaining seven specimens had the lacing reinforcement. Four point bending test were carried out, one of the specimens was tested under the static load applied gradually up to failure and the other specimens were tested under repeated load (5 cyc
... Show MoreThis research aims to choose the appropriate probability distribution to the reliability analysis for an item through collected data for operating and stoppage time of the case study.
Appropriate choice for .probability distribution is when the data look to be on or close the form fitting line for probability plot and test the data for goodness of fit .
Minitab’s 17 software was used for this purpose after arranging collected data and setting it in the the program.
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... Show MoreThis study was conducted for the purpose of exploring the relationship between positive thinking and academic achievement in art history. And it relates to the student’s personality, intelligence, abilities and economic and social level. The sample of the study consisted of (40) male and female students from the first stage students - Department of Art Education in the Faculty of Fine Arts / Morning Study, A positive thinking questionnaire was applied to them, and the study found that there is no positive relationship between positive thinking and academic achievement in art history.
Background: In this work, a fingerprint powder was used to reveal latent fingerprints from different surfaces. This powder was derived from the Date fronds as activated carbon. Methods: In preparing the activated carbon, three parameters were studied: activation time, activation temperature, and impregnation ratio. Fourier Transform Infrared Spectroscopy (FTIR) was used to characterize the prepared Date frond activated carbon (DFAC) as well as the raw material (Date frond plant). Brunauer-Emmett-Teller (BET) was used to measure the specific surface area of DFAC. The surface shape and the element composition of the prepared powder were investigated using (SEM-EDS) analysis. A Central Composite Design (CCD) was employed to determine th
... Show MoreThis paper presents stochastic analysis using the perturbation method to model the structure of a container to verify the distributions of probability of maximum and minimum axial forces reactions in piles. The proposed simulation of a container port terminal under 11 scenarios of load combinations was presented. The probability distributions for live loads are assigned according to the input parameters of simulation data. Part of the load itself is implicitly combined such as vertical live load which includes the weight of equipment and containers and wind load. The structural model was simulated in the software STAAD Pro., while the statistical analyses were performed with MATLAB. The results demonstrated that, the most significant extern
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