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A Nonlinear MIMO-PID Neural Controller Design for Vehicle Lateral Dynamics model based on Modified Elman Neural Network
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This paper presents a new design of a nonlinear multi-input multi-output PID neural controller of the active brake steering force and the active front steering angle for a 2-DOF vehicle model based on modified Elman recurrent neural. The goal of this work is to achieve the stability and to improve the vehicle dynamic’s performance through achieving the desired yaw rate and reducing the lateral velocity of the vehicle in a minimum time period for preventing the vehicle from slipping out the road curvature by using two active control actions: the front steering angle and the brake steering force. Bacterial forging optimization algorithm is used to adjust the parameters weights of the proposed controller. Simulation results based Maltab package show the control methodology has effectiveness performance in terms of the excellent dynamic behavior of the vehicle model by minimizing the tracking error and smoothness control signals without saturation state obtained, especially when adding a bounded external disturbances to the vehicle model.

 

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Publication Date
Wed Feb 25 2026
Journal Name
Opción: Revista De Ciencias Humanas Y Sociales, Issn 1012-1587, Nº. Extra 21, 2019, Págs. 907-927
The Effect Of The Perkins’ And Blythe’s Model On Mathematical Communication Among Students Of The 5Th Bio Scientific Grade In Mathematics
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Autorías: Muayad Kadhim Raheem, Lina Fouad Jawad. Localización: Opción: Revista de Ciencias Humanas y Sociales. Nº. 21, 2019. Artículo de Revista en Dialnet.

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Publication Date
Mon Mar 11 2019
Journal Name
Al-khwarizmi Engineering Journal
An Investigation Study of Tool Geometry in Single Point Incremental Forming (SPIF) and their effect on Residual Stresses Using ANOVA Model
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Incremental forming is a flexible sheet metal forming process which is performed by utilizing simple tools to locally deform a sheet of metal along a predefined tool path without using of dies. This work presents the single point incremental forming process for producing pyramid geometry and studies the effect of tool geometry, tool diameter, and spindle speed on the residual stresses. The residual stresses were measured by ORIONRKS 6000 test measuring instrument. This instrument was used with four angles of (0º,15º,30º, and 45º) and the average value of residual stresses was determined, the value of the residual stress in the original blanks was (10.626 MPa). The X-ray diffraction technology was used to measure the residual stresses

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Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
A comparison Some of Methods for Estimating Survival Function for Truncated Exponential Distribution
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Exponential distribution is one of most common distributions in studies and scientific researches with wide application in the fields of reliability, engineering and in analyzing survival function therefore the researcher has carried on extended studies in the characteristics of this distribution.

In this research, estimation of survival function for truncated exponential distribution in the maximum likelihood  methods and Bayes first and second method, least square method and Jackknife dependent in the first place on the maximum likelihood method, then on Bayes first method then comparing then using simulation, thus to accomplish this task, different size samples have been adopted by the searcher us

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Publication Date
Sat Mar 01 2008
Journal Name
Iraqi Journal Of Physics
Mathematical Model of Amplified Stimulated Raman Scattering and Fiber Raman Amplifier
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The result of a developed mathematical model for predicting the design
parameters of the fiber Raman amplifier (FRA) are demonstrated. The amplification
parameters are tested at different pump power with different fiber length. Recently,
the FRA employed in optical communication system to increase the repeater distance
as will as the capacity of the communication systems. The output results show, that
high Raman gain can be achieved by high pumping power, long effective area that
need to be small for high Raman gain. High-stimulated Raman gain coefficient is
recommended for high Raman amplifier gain, the low attenuation of the pump and the
transmitted signal in the fiber lead to high Raman gain.

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Publication Date
Mon Sep 30 2024
Journal Name
Al-mustansiriyah Journal Of Science
A Transfer Learning Approach for Arabic Image Captions
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Publication Date
Wed Jan 20 2021
Journal Name
Plant Archives
New Irrigation Techniques for Precision Agriculture: A Review
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Precision irrigation applications are used to optimize the use of water resources, by controlling plant water requirements through using different systems according to soil moisture and plant growth periods. In precision irrigation, different rates of irrigation water are applied to different places of the land in comparison with traditional irrigation methods. Thus the cost of irrigation water is reduced. As a result of the fact that precise irrigation can be used and applied in all irrigation systems, it spreads rapidly in all irrigation systems. The purpose of the Precision Agriculture Technology System (precision irrigation) , is to apply the required level of irrigation according to agricultural inputs to the specified location , by us

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Publication Date
Mon Apr 01 2013
Journal Name
مجلة كلية بغداد للعلوم الاقتصادية الجامعة العدد الخاص بمؤتمر الكلية
A propose method for hiding image into image
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Publication Date
Thu Mar 01 2012
Journal Name
International Journal Of Innovative Computing, Information And Control
ITTP: A new transport protocol for VoIP applications
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Scopus
Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Tools for Drought Identification and Assessment: A Review
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Drought is a natural phenomenon in many arid, semi-arid, or wet regions. This showed that no region worldwide is excluded from the occurrence of drought. Extreme droughts were caused by global weather warming and climate change. Therefore, it is essential to review the studies conducted on drought to use the recommendations made by the researchers on drought.  The drought was classified into meteorological, agricultural, hydrological, and economic-social. In addition, researchers described the severity of the drought by using various indices which required different input data.  The indices used by various researchers were the Joint Deficit Index (JDI), Effective Drought Index (EDI), Streamflow Drought Index (SDI), Sta

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Crossref (3)
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Publication Date
Wed Aug 01 2018
Journal Name
Engineering And Technology Journal
A Proposed Method for the Sound Recognition Process
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