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

Mon Jan 01 2024

Journal Name

International Journal Of Literacy And Education

The availability of concepts and applications of artificial intelligence in the content of the chemistry textbook for the fourth scientific grade

Zahraa Salah Mustafa

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Publication Date

Thu Sep 01 2016

Journal Name

Journal Of Engineering

Application of Artificial Neural Network for Predicting Iron Concentration in the Location of Al-Wahda Water Treatment Plant in Baghdad City

Iron

ANN model

Tigris River

Water treatment plant

Al-Wahda.

Nawar Omran Ali

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Iron is one of the abundant elements on earth that is an essential element for humans and may be a troublesome element in water supplies. In this research an AAN model was developed to predict iron concentrations in the location of Al- Wahda water treatment plant in Baghdad city by water quality assessment of iron concentrations at seven WTPs up stream Tigris River. SPSS software was used to build the ANN model. The input data were iron concentrations in the raw water for the period 2004-2011. The results indicated the best model predicted Iron concentrations at Al-Wahda WTP with a coefficient of determination 0.9142. The model used one hidden layer with two nodes and the testing error was 0.834. The ANN model coul

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Publication Date

Sun Oct 19 2025

Journal Name

Lecture Notes In Networks And Systems

Artificial Intelligence Techniques in the Geographical Analysis of Under-Five Child Mortality in the Central Euphrates Provinces for the Year 2022

Public health policy • Child health • Under-five mortality • Geographic information systems (GIS) Spatiotemporal patterns

Raghad Hani

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Abstract This research adopted a novel mixed-method approach combining quantitative analysis and geospatial statistics with artificial intelligence (AI) techniques to evaluate U5MR in the Middle Euphrates provinces of Iraq in 2022. We investigated spatial patterns, socioeconomic determinants and health system factors related to child mortality, Using data from the Iraqi Ministry of Health in 2022. We uncovered significant disparities across the regions, where the highest death rate in Al Diwaniyah province was 33.1 per 1000 and dropped to 16.6 per 1000 live births in al-Muthanna province. An exhaustive statistical analysis brought to the fore the main factors that accounted for such a variation, that is to say population density in rural a

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Publication Date

Sun Mar 01 2020

Journal Name

Sustainable Chemistry And Pharmacy

A sustainable approach to utilize olive pips for the sorption of lead ions: Numerical modeling with aid of artificial neural network

Ayad A.H.

Zahraa S.

Laith A.

Mu.

Tansir

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(24)

(19)

Publication Date

Wed Mar 15 2017

Journal Name

International Journal Of Computer Applications

Improve Roll Dynamic Response of Road Vehicle to Step Steer Input using Semi-active PID Suspension Controller

Karim

Farah

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Publication Date

Thu Oct 25 2018

Journal Name

Journal Of Optical Communications

320 Gbps Free Space Optic Communication System Deploying Ultra Dense Wavelength Division Multiplexing and Polarization Mode Division Multiplexing

Husam Abduldaem

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Abstract<p>This work aims to investigate the integrated ultra-dense wavelength division multiplexing (UDWDM) and polarization division multiplexing (PDM) schemes incorporated in the free space optic (FSO) communication system. Erbium-doped fiber amplifiers (EDFAs) are used as post and pre-amplifiers in the proposed UDWDM–PDM–FSO system to boost the transmission power for increasing the distance. Thirty-two channels are transported over the FSO link to realize the total data transmission of 160 and 320 Gbps with 0.08 and 0.1 nm channel spacing, respectively. Results are also reported with non-return to zero modulation schemes. The performance of the proposed UDWDM–PDM–FSO transmission sys</p> ... Show More

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(10)

(8)

Publication Date

Sun Oct 15 2017

Journal Name

Research Journal Of Applied Sciences, Engineering And Technology

Optimization of IPv6 Protocol Independent Multicast-Sparse Mode Multicast Routing Protocol based on Greedy Rendezvous Point Selection Algorithm

Saif

Dr. Imad

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Publication Date

Tue Jan 01 2019

Journal Name

Research Journal Of Pharmacy And Technology

New Mode Semi-Automated Turbidimetric Determination of Mefenamic Acid by Ayah 6SX1-ST-2D Solar cell-CFI Analyser

Raed F.

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(3)

(1)

Publication Date

Wed May 01 2019

Journal Name

Sensors And Actuators B: Chemical

Fabrication and Characterizations of a Novel Etched-tapered Single Mode Optical Fiber Ammonia Sensors Integrating PANI/GNF Nanocomposite

Husam Abduldaem

Suraya Abdul

Muhammad Hafiz

Siti Barirah

Mohd Adzir

Mohd Hanif

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(41)

(47)

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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