Al-Khwarizmi Engineering Journal最新文献_第2页

Adaptive Robust Tracking Control of Robotic Manipulator based on SMC and Fuzzy Control Strategy 基于 SMC 和模糊控制策略的机器人机械手自适应鲁棒跟踪控制

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.11.002

A. H. Mary, Ahmad Al-Talabi, T. Kara, Dina Saadi Muneam, Mohammad Yahya Almuhanna, Laith Awda Kadhim Mayyahi

{"title":"Adaptive Robust Tracking Control of Robotic Manipulator based on SMC and Fuzzy Control Strategy","authors":"A. H. Mary, Ahmad Al-Talabi, T. Kara, Dina Saadi Muneam, Mohammad Yahya Almuhanna, Laith Awda Kadhim Mayyahi","doi":"10.22153/kej.2024.11.002","DOIUrl":"https://doi.org/10.22153/kej.2024.11.002","url":null,"abstract":"In recent years, robotic systems have been widely used in different applications, and this has motivated researchers to develop different control methods. A model-free, intelligent, robust control method for a nonlinear robotic manipulator system is proposed in this work. This paper presents a novel solution for the major drawbacks of the sliding mode control scheme, which are chattering. Prior knowledge is needed about the dynamic model of the controlled system and the upper bound of uncertainty. In this paper, a fuzzy-like PD controller with SMC (FLPDSM) is proposed. The fuzzy-like PD controller was designed according to fuzzy rules and membership functions based on the nominal model of the robot manipulator. A robust control term was added to the control signal to compensate for the system uncertainty, and external disturbances are compensated by adding an auxiliary robust term to the SMC control law. Two methods for designing robust control terms are proposed. The first proposed method assumes that the upper bound of system uncertainty is known although it cannot be exactly determined due to external disturbances and uncertainty. Hence, a second method was proposed that assumes this bound to be unknown, and an adaptive gain based on Lyapunov theory was used to derive the adaptation law. The Lyapunov second method was used to ensure the stability of the closed loop system. Performance tests on the proposed methods were implemented through simulation studies for the two-link robotic manipulator, and the test results were compared with the standard SMC to verify the effectiveness of the proposed method. A good trajectory tracking with a high robustness against parameter variations and external disturbances was observed under the presented control scheme.","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":"8 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140085025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Applying Scikit-Learn of Machine Learning To Predict Consumed Energy in Al-Khwarizmi College of Engineering, Baghdad, Iraq 应用机器学习的 Scikit-Learn 预测伊拉克巴格达 Al-Khwarizmi 工程学院的能源消耗情况

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.10.005

Reem Omar Mahdi, Wisam S. Hacham

{"title":"Applying Scikit-Learn of Machine Learning To Predict Consumed Energy in Al-Khwarizmi College of Engineering, Baghdad, Iraq","authors":"Reem Omar Mahdi, Wisam S. Hacham","doi":"10.22153/kej.2024.10.005","DOIUrl":"https://doi.org/10.22153/kej.2024.10.005","url":null,"abstract":"على الصعيد العالمي ، تستهلك المباني حوالي 40٪ من الطاقة. تؤثر العديد من العناصر ، مثل الخصائص الفيزيائية للهيكل ، وكفاءة نظام التبريد والتدفئة ، ونشاط شاغلي المبنى ، واستدامة المبنى ، على استهلاك الطاقة للمبنى. في الواقع ، من الصعب حقًا التنبؤ بكمية الطاقة التي يحتاجها المبنى. من أجل تحسين استدامة المبنى وإنشاء مصادر طاقة مستدامة لتقليل غاز ثاني أكسيد الكربون المنبعث من احتراق الوقود الأحفوري ، من الضروري إجراء تقدير للطاقة المستخدمة في المبنى. تتناول هذه الورقة شرحاً للطاقة المستهلكة في مبنى المحاضرات بكلية الهندسة خوارزمي ، جامعة بغداد ، العراق. تم جمع بيانات الطقس لفترة زمنية محددة ومعلومات تشييد المبنى ووضعت في مجموعة بيانات محددة. تم استخدام هذه البيانات لمعرفة قيمة استهلاك الطاقة في المبنى المذكور أعلاه ، باستخدام الذكاء الاصطناعي وتحليل البيانات. تكمن أهمية هذا العمل في تقليل كمية الطاقة المستهلكة. يمكن استخدام نتائج هذا العمل للتنبؤ بالطاقة التي يستهلكها أي مبنى قبل بنائه. توضح المنهجية المستخدمة القدرة على التنبؤ بأداء الطاقة في بناية تعليمية باستخدام النتائج السابقة وتدريب النموذج عليها ، وتعتمد دقة التنبؤ على كمية البيانات المتاحة للتدريب في خطوات الذكاء الاصطناعي لإعطاء أعلى دقة. تم التحقق من التنبؤ باستخدام جذر متوسط الخطأ التربيعي ومعامل التحديد ووصلنا إلى 0.16 و 0.97 لـ متوسط الخطأ التربيعي ومعامل التحديد على التوالي.","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":"28 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140084345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Control System Development of Cap-Seal Assembling Machine 瓶盖密封装配机控制系统开发

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.10.004

Abdullah Salih Hamoud, S. Al-Zubaidi, Samaher M. Sarhan, Mohd Shukor Salleh, M. N. Mohammed, Oday I. Abdullah

引用次数: 0

Influence of Zirconia and Polymerized Microfiller on Some Properties of Polymethyl Methacrylate Denture Base 氧化锆和聚合微填充物对聚甲基丙烯酸甲酯义齿基托某些性能的影响

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.08.001

Duaa Subhi Rasan, F. Farhan

{"title":"Influence of Zirconia and Polymerized Microfiller on Some Properties of Polymethyl Methacrylate Denture Base","authors":"Duaa Subhi Rasan, F. Farhan","doi":"10.22153/kej.2024.08.001","DOIUrl":"https://doi.org/10.22153/kej.2024.08.001","url":null,"abstract":"يأتي الاستخدام العالمي لبولي ميثيل ميثاكريلات (PMMA) كمادة أساسية لأطقم الأسنان من سهولة المعالجة والإصلاح والتوافق الحيوي والمظهر الجمالي الممتاز. ومع ذلك ، فإن أوجه القصور في مواد البوليمر ، مثل الخواص الميكانيكية والفيزيائية غير كافية. كان الغرض من هذه الدراسة هو تقييم القوة المستعرضة وقابلية البلل PMMA بعد الاختلاط مع جزيئات الزركونيا و PMMA المبلمرة [ZP] كمواد مالئة بنسبة مختلفة. المواد والأساليب: تم اقتراح مجموعتين وفقا لإضافة ZP بنسب مئوية مختلفة إلى ؛ المجموعة A مع 2 ٪ من ZP والمجموعة B مع 4 ٪ من ZP. كانت المجموعة الضابطة بدون إضافة ZP. تم تحضير مسحوق ZP وخلطه مع مسحوق PMMA بالوزن بنسبتين مختلفتين 2٪ و 4٪ [1.2 ميكرومتر و 30٪ ZrO و 0.69 ميكرومتر و 70٪ p-PMMA]. لبلمرة العينات ، تم استخدام إجراء المعالجة الحرارية المعتاد باستخدام حمام مائي ، لكل من اختبارات قوة المرونة وقابلية البلل. تم تحليل البيانات من الدراسة باستخدام تحليل التباين أحادي الاتجاه (ANOVA مع اختبارات Tukey's HSD و Dunnett's T3 اللاحقة) مع قيمة P معنوية تبلغ (p <0.05) .. وكانت النتائج زيادة معنوية في قوة المرونة المستعرضة لوحظت مع إضافة مسحوق ZP إلى PMMA بنسبة 2٪. بينما حدث انخفاض كبير بنسبة 4٪. لوحظت زيادة كبيرة في قابلية البلل بنسبة 2٪ و 4٪. مزيج من زركونيا وجزيئات PMMA المبلمرة المستخدمة كحشو الأسنان في 2 ٪ و 4 ٪ بالوزن. تعزيز وتقليل القوة المستعرضة على التوالي ، في حين عززت قابلية البلل مع زيادة التركيز. \u0000الكلمات المفتاحية: بولي ميثيل ميثاكريلات (PMMA) ، زركونيا ، PMMA مبلمر ، قوة المرونة وقابلية للبلل.","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":"112 25","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140088683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Factors Affecting Electrocoagulation Process for Different Water Types: A review 影响不同水质电凝工艺的因素：综述

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.10.001

Shahad Fadhil Abed AL-Rubaye, Naseer A. AlHaboubi, A. Al-Allaq

{"title":"Factors Affecting Electrocoagulation Process for Different Water Types: A review","authors":"Shahad Fadhil Abed AL-Rubaye, Naseer A. AlHaboubi, A. Al-Allaq","doi":"10.22153/kej.2024.10.001","DOIUrl":"https://doi.org/10.22153/kej.2024.10.001","url":null,"abstract":"Raw water must meet specific physical, chemical, and biological requirements to be suitable for drinking. There are various techniques available for treating wastewater, and aside from conventional methods that involve chemicals, electrocoagulation is an efficient and advanced approach. Electrocoagulation has proven effective in treating many pollutants, including bacteria, viruses, iron, fluoride, sulfate, boron, hardness, and turbidity. Total suspended solids, organic and inorganic materials, chemical oxygen demand COD, biochemical oxygen demand BOD, and color. It finds extensive application in treating different types of water and wastewater due to its exceptional ability to remove diverse contaminants. Recently, electrocoagulation has garnered significant attention due to its remarkable efficiency in treating various pollutants. This article provides a thorough analysis of contemporary literature that is committed to using electrocoagulation in a variety of water treatment methods, with a focus on the different variables affecting the process performance, such as electrical current, electrode type, electrode configuration, initial pH, electrode distance, NaCl concentration, initial concentration of pollutants, operating temperature and electrolysis time.\u0000 ","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":" 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140091469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modification, Characterization of Tea Residue-derived Activated Carbon, and Ciprofloxacin Adsorption 茶叶渣衍生活性炭的改性、表征和环丙沙星吸附作用

Al-Khwarizmi Engineering Journal Pub Date : 2024-03-01 DOI: 10.22153/kej.2024.11.001

Alaa Kareem Mohammed, Israa M. M. Rashid, Nadya AL Sbani, Wan Wan Isaha

{"title":"Modification, Characterization of Tea Residue-derived Activated Carbon, and Ciprofloxacin Adsorption","authors":"Alaa Kareem Mohammed, Israa M. M. Rashid, Nadya AL Sbani, Wan Wan Isaha","doi":"10.22153/kej.2024.11.001","DOIUrl":"https://doi.org/10.22153/kej.2024.11.001","url":null,"abstract":"تقدم هذه الدراسة وصفا للطريقة المستخدمة في تحضير الكربون المنشط (AC)من بقايا الشاي. تم دراسة الخواص الفيزيائية والكيميائية وكفاءة الامتزاز للكربون المنشط المحضر. تم إنتاج الكربون المنشط (AC) على مرحلتين: الاولى التنشيط باستخدام حامض الفوسفوريك (H3PO4) والثانية الكربنة عند درجة حرارة 450 درجة مئوية. استخدم الكربون المنشط لغرض امتصاص العقار الدوائي السيبروفلوكساسين(CIP) . تمت دراسة عدة عوامل تشغيلية بدرجة حرارة الغرفة لمعرفة تأثيرها على كفاءة الامتزاز. تشمل هذه العوامل التركيز الأولي لـ CIP الممتز، ومستوى الرقم الهيدروجيني، وزمن الامتزاز، وكمية المادة المازة. تم اختبار خصائص الكربون المنشط باستخدام التحليل الطيفي للأشعة تحت الحمراء (FTIR)، والمجهر الماسح الإلكتروني (SEM)، وحيود الأشعة السينية (XRD)، وحساب المساحة السطحية والحجم المسامي بطريقة (BET). تمت دراسة نمط الامتزاز وتبين بان نموذج Langmuir هو الموديل المناسب لعملية امتزاز CIP على الكربون المنشط بالشاي .(TAC)يتمتع الكربون المنشط المنتج بالقدرة على امتصاص السيبروفلوكساسين، بقدرة امتصاص قصوى تبلغ 256.41 ملغم/غرام. تمت دراسة حركية الامتزاز وتبين انه يمكن تمثيلها بتفاعل من الدرجة الثانية.","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":" 895","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140092035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Overview of Audio-Visual Source Separation Using Deep Learning 利用深度学习进行视听源分离概述

Al-Khwarizmi Engineering Journal Pub Date : 2023-12-01 DOI: 10.22153/kej.2023.06.003

Noorulhuda Mudhafar Sulaiman, Ahmed Al Tmeme, Mohammed Najah Mahdi

引用次数: 0

Development of an ANN Model for RGB Color Classification using the Dataset Extracted from a Fabricated Colorimeter 利用从人造色度计提取的数据集开发用于 RGB 颜色分类的 ANN 模型

Al-Khwarizmi Engineering Journal Pub Date : 2023-12-01 DOI: 10.22153/kej.2023.09.003

Shahad A. Mnati, Furat I. Hussein, Ahmed Issa

{"title":"Development of an ANN Model for RGB Color Classification using the Dataset Extracted from a Fabricated Colorimeter","authors":"Shahad A. Mnati, Furat I. Hussein, Ahmed Issa","doi":"10.22153/kej.2023.09.003","DOIUrl":"https://doi.org/10.22153/kej.2023.09.003","url":null,"abstract":" \u0000Codes of red, green, and blue data (RGB) extracted from a lab-fabricated colorimeter device were used to build a proposed classifier with the objective of classifying colors of objects based on defined categories of fundamental colors. Primary, secondary, and tertiary colors namely red, green, orange, yellow, pink, purple, blue, brown, grey, white, and black, were employed in machine learning (ML) by applying an artificial neural network (ANN) algorithm using Python. The classifier, which was based on the ANN algorithm, required a definition of the mentioned eleven colors in the form of RGB codes in order to acquire the capability of classification. The software's capacity to forecast the color of the code that belongs to an object under detection is one of the results of the proposed classifier. The work demanded the collection of about 5000 color codes which in turn were subjected to algorithms for training and testing. The open-source platform TensorFlow for ML and the open-source neural network library Keras were used to construct the algorithm for the study. The results showed an acceptable efficiency of the built classifier represented by an accuracy of 90% which can be considered applicable, especially after some improvements in the future to makes it more effective as a trusted colorimeter.\u0000 ","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":" 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138611698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Remediation of Congo Red-Contaminated Groundwater by using a Permeable Reactive Barrier Through Modified Waterworks Sludge MgAl-LDH 通过改良水厂污泥 MgAl-LDH 使用渗透性反应屏障修复刚果红污染的地下水

Al-Khwarizmi Engineering Journal Pub Date : 2023-12-01 DOI: 10.22153/kej.2023.07.001

S. A. Salih, Tariq M. Naife

引用次数: 0

Secure Seaport Management System using Blockchain Technology 使用区块链技术的安全海港管理系统

Al-Khwarizmi Engineering Journal Pub Date : 2023-12-01 DOI: 10.22153/kej.2023.08.001

Ali H. Hamad, Fahad Saeed

{"title":"Secure Seaport Management System using Blockchain Technology","authors":"Ali H. Hamad, Fahad Saeed","doi":"10.22153/kej.2023.08.001","DOIUrl":"https://doi.org/10.22153/kej.2023.08.001","url":null,"abstract":"Worldwide, shipping documents are still primarily created and handled in the traditional paper manner. Processes taking place in shipping ports as a result are time-consuming and heavily dependent on paper. Shipping documents are particularly susceptible to paperwork fraud because they involve numerous parties with competing interests. With the aid of smart contracts, a distributed, shared, and append-only ledger provided by blockchain technology allows for the addition of new records. In order to increase maritime transport and port efficiency and promote economic development, this paper examines current maritime sector developments in Iraq and offers a paradigm to secure the management system based on a hyper-ledger fabric blockchain platform. The performance evaluation of the proposed system implies two scenarios: one organization and two organizations by examining throughput and latency. High transaction transmission rates on large block sizes produced positive results. Similarly, employing a small block size and higher send rates results in poor performance. Additionally, it was noted that throughput will decrease and latency will rise as the number of organizations increases. Block size and block timeouts should be high in applications with many concurrent transactions in order to maintain good throughput.","PeriodicalId":7637,"journal":{"name":"Al-Khwarizmi Engineering Journal","volume":"27 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138627193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0