Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Ammar Al-Jodah; Laith Khames

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Publication Date

Sun Jan 14 2018

Journal Name

Journal Of Engineering

Volume

24

Issue Number

1

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Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

PAM

Sliding Mode Controller.

Ammar Al-Jodah

Laith Khames

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In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

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Publication Date

Sat May 31 2025

Journal Name

3rd International Scientific Conference For Human And Social Studies And Epistemological Challenges

Frankenstein Complex in Daniel H. Wilson's Robopocalypse ( ): Artificial Intelligence Conspiracies

With the advent of technology

the fear of losing control has consistently accompanied humanity. While humans have discovered

invented

and created many remarkable things

they have also been haunted by the possibility of their creations turning against them. This fear

often referred to as the Frankenstein Complex

derives its name from Mary Shelley's Frankenstein (􀀔􀀛􀀔􀀛)

in which Dr. Frankenstein's creation ultimately destroys its maker. The Frankenstein Complex embodies the subconscious fear of artificial intelligence (AI) surpassing and potentially dominating humankind. This apprehension has inspired numerous literary works

including Daniel H. Wilson’s novels. The present study examines the widespread fear of AI

which has fueled conspiracy theories in literature. These theories have not only amplified public anxiety but also hindered understanding among those with limited knowledge of AI and robotics. Dr. Wilson

a robotics expert

uses his imagination as a driving force for both his writing and his inventions. The research focuses on incidents leading to the rise of robots

the concept of the New War

how it was fought

and how it concluded. By comparing

contrasting

and analyzing literary elements and devices with prominent conspiracy theories

the study highlights the interplay between fiction and scientific development. The researchers conclude that while many conspiracy theories contain elements of truth

they often inspire scientists to explore them further. Additionally

some conspiracy theories warrant serious consideration. The study recommends acknowledging the Frankenstein Complex while maintaining faith in the potential benefits of artificial intelligence.

Ansam

Mayada

Zahraa

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Publication Date

Fri Aug 01 2008

Journal Name

2008 International Symposium On Information Technology

Generating pairwise combinatorial test set using artificial parameters and values

Mohammed I.

Kamal Z.

Nor Ashidi Mat

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(1)

Publication Date

Wed Nov 01 2023

Journal Name

Al-rafidain Journal Of Medical Sciences ( Issn 2789-3219 )

After Introducing Artificial Intelligence, can Pharmacists Still Find a Job?

Ehab

Samer

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(1)

Publication Date

Tue Jan 01 2013

Journal Name

Thesis

User Authentication Based on Keystroke Dynamics Using Artificial Neural Networks

Mays M. Hoobi

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Computer systems and networks are being used in almost every aspect of our daily life, the security threats to computers and networks have increased significantly. Usually, password-based user authentication is used to authenticate the legitimate user. However, this method has many gaps such as password sharing, brute force attack, dictionary attack and guessing. Keystroke dynamics is one of the famous and inexpensive behavioral biometric technologies, which authenticate a user based on the analysis of his/her typing rhythm. In this way, intrusion becomes more difficult because the password as well as the typing speed must match with the correct keystroke patterns. This thesis considers static keystroke dynamics as a transparent layer of t

Publication Date

Thu Jan 01 2026

Journal Name

Malaysian Journal Of Nursing

Pediatric Nursing Students and Artificial Intelligence: A Cross-Sectional Study

Luay Amjed

Adraa

Samar

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Background: The rapid integration of Artificial Intelligence (AI) into healthcare necessitates that nursing education evolves to equip students with essential technological competencies. Objectives: To explore pediatric nursing students' perceptions of AI in nursing and analyze associations with sociodemographic factors and prior AI knowledge. Methods: A descriptive cross-sectional study was conducted from December 2024 to March 2025 across five universities in Baghdad. A non-probability sample of 500 pediatric nursing students completed the Shinners Artificial Intelligence Perception (SAIP) tool. Data were analyzed using descriptive statistics and inferential comparisons (t-tests/ANOVA) via SPSS. Results: Participants had a mean ag

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Publication Date

Sun Nov 30 2025

Journal Name

بدبي اعمال وقائع المؤتمر الدولي الاول لعلوم المكتبات والمعلومات جامعة الوصل و مكتبة محمد بن راشد

Artificial Intelligence Skills of Information Institutions Workers: A Descriptive Study

Skills

Artificial intelligence

Information institutions

University libraries

Huda Abbas

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Objectives: This research aims to study the artificial intelligence (AI) skills re-quired by employees in information institutions, specifically university libraries in Iraq, to enhance their services and align with modern technological advancements. It highlights the gap between the current knowledge of employees in Al technologies and their practical applications to improve the services of information institutions. Methodology: The research adopted a descriptive survey method, targeting em- ployees in three prestigious university libraries in Baghdad: the Central Library of the University of Baghdad, the Central Library and House of Books of Al-Mustansiriyah University, and the Central Library of the Iraqi University. A sample of (160)

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Publication Date

Tue Dec 01 2015

Journal Name

Journal Of Engineering

Modeling and Control of Fuel Cell Using Artificial Neural Networks

fuel cell

hydrogen fuel

renewable energy

artificial neural networks

PID

Particle swarm optimization

Hayder Sabah

Hayder

Eiman Ali Eh.

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This paper includes an experimental study of hydrogen mass flow rate and inlet hydrogen pressure effect on the fuel cell performance. Depending on the experimental results, a model of fuel cell based on artificial neural networks is proposed. A back propagation learning rule with the log-sigmoid activation function is adopted to construct neural networks model. Experimental data resulting from 36 fuel cell tests are used as a learning data. The hydrogen mass flow rate, applied load and inlet hydrogen pressure are inputs to fuel cell model, while the current and voltage are outputs. Proposed model could successfully predict the fuel cell performance in good agreement with actual data. This work is extended to developed fuel cell feedback

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Publication Date

Sun Nov 26 2017

Journal Name

Journal Of Engineering

Compression Index and Compression Ratio Prediction by Artificial Neural Networks

compression index

compression ratio

index properties

artificial neural network.

Abbas Jawad

Ahmed Faleh

Zahir Noori M.

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Information about soil consolidation is essential in geotechnical design. Because of the time and expense involved in performing consolidation tests, equations are required to estimate compression index from soil index properties. Although many empirical equations concerning soil properties have been proposed, such equations may not be appropriate for local situations. The aim of this study is to investigate the consolidation and physical properties of the cohesive soil. Artificial Neural Network (ANN) has been adapted in this investigation to predict the compression index and compression ratio using basic index properties. One hundred and ninety five consolidation results for soils tested at different construction sites

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Publication Date

Thu Dec 19 2024

Journal Name

Baghdad Science Journal

Solution of Wave Equation by Linear Regression Artificial Neural Network

Mahmood A.

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تعتبر المعادلات التفاضلية الموجية من اهم المواضيع التي تمثل على سبيل المثال الحركة الموجية للاهتزازات الأرضية . ومن هنا فان ايجاد حلول تقريبيه لمثل هذه المعادلات بدقة وسرعه عالية وبشكل اسرع من الحلول التحليلية والمعقدة , اصبح ممكنا من خلال استخدام الذكاء الاصطناعي واساليب التعلم الالي. في هذا البحث هناك ثلاثة أهداف الأول هو تحويل مشكلة القيمة الأولية للمعادلة الموجية إلى شكلها القانوني وإيجاد حلها ا

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Publication Date

Sun May 01 2022

Journal Name

International Journal Of Multiphase Flow

Application of artificial neural network to predict slug liquid holdup

Ghassan H.

F.S.

Faleh

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