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Go to Editorial ManagerThe goal of this paper is to present a study of tuning the Proportional-Integral-Derivative (PID) controller for control the position of a DC motor by using the Particle Swarm Optimization (PSO) technique as well as the Ziegler & Nichols (ZN) technique. The conventional Ziegler & Nichols (ZN) method for tuning the PID controller gives a big overshoot and large settling time, so for this reason a modern control approach such as particle swarm optimization (PSO) is used to overcome this disadvantage. In this work, a third order system is considered to be the model of a DC motor. Four types of performance indices are used when using the particle swarm optimization technique. These indices are ISE, IAE, ITAE and ITSE. Also study the effect of each one of these performance indices by obtaining the percentage overshoot and settling time when a unit step input is applied to a DC motor. A comparison is made between the two methods for tuning the parameters of PID controller for control the position of a DC motor is considered. The first one is tuning the controller by using the Particle Swarm Optimization technique where the second is tuning by using the Ziegler & Nichols method. The proposed PID parameters adjustment by the Particle Swarm Optimization technique showed better results than the Ziegler & Nichols’ method. The obtained simulation results showed good validity of the proposed method. MATLAB programming and Simulink were adopted in this work.
In an original article, an addition was made to the well-known Taguchi’s methodical design literature by proposing how Poisson distribution may be incorporated into the Taguchi method for enhanced performance analysis in optimization. While the article is recent, it was found compelling enough to apply this novel concept of Poisson distribution to a growing area of maintenance research known as maintenance downtime analysis. Consequently, this paper contributes to the expanding research neighborhood through a Taguchi optimization method based on Poisson distribution related to the maintenance process optimization. A valuable method to optimize maintenance downtime was developed wherein the Poisson distribution was used to achieve the probability of maintenance downtime. An important foundation of the method is the Taguchi scheme. These elements were transformed into the factor-level design of the Poisson enhanced Taguchi scheme while the framework was tested using data from a process industry for validation. Interesting, the Taguchi's signal-to-noise quotient led to an enhanced set of limiting factors for better reliability of the system as G1H1I1J1K3. By interpretation, the following was found: downtime (204.61 mins), probability density function (0.00187), and cumulative density function (0.00776). The combination of these factors and levels will enhance maintenance downtime in the process industry as a result of their contributions. The outcome revealed the competence of the model to optimization schemes.
Mobile robots use simultaneous localization and mapping (SLAM) techniques for generating maps of unknown environments through navigating its. In this work, firstly SLAM technique was considered based on extended Kalman filter (EKF) which it was implemented and evaluated at unknown environments with different number of landmarks to estimate mobile robot’s position and build a map for navigated environment at the same time. Then, the detectable landmarks will play an important role in controlling the overall navigation process as well EKF-SLAM technique’s performance. After that, three intelligent optimization algorithms are proposed to enhance the performance of the EKF-SLAM trajectory for the mobile robot, these algorithms are: particle swarm optimization (PSO), chaotic particle swarm optimization (CPSO) and genetic optimization (GA). MATLAB simulation results show that CPSO algorithm outperforms PSO and GA algorithms in terms of minimizing the mean square error (MSE1) with increasing the number of landmarks, where MSE1 is the mean square error of EKF-SLAM according to the actual trajectory. The simulation results show also the performance of EKF-SLAM trajectory is better than the performance of the Odometry trajectory and becomes best with using intelligent optimization algorithms.
The most important way for joining the non-welding aluminum alloy is Friction stir spot welding. Three parameters effect on efficiency of welding: tool shape, rotational speed, and plunged time, are chosen to study for welding 6061T6 aluminum alloy. Each of the above parameters has three variables as: pin shapes (square, cylinder, and hexagonal), plunged time (50, 70,100) sec and rotational speeds (710, 1120, 1800) rpm hybrid approach which is consist of the experiment run, neural network and social spider optimization is used to optimize the welding conditions by finding the maximum ultimate force. The best condition of the weldments is (square, 710rpm, 100sec) with maximum shear force 4740N. The best results obtained from hybrid optimization with experimental results; with discrepancy of 2%.
Box-Wilson experimental design method was employed to optimize bioethanol production from low grade, unclassified, waste Iraqi dates. The optimization process was based on four independent relevant parameters-initial sugar concentration (50-100 g/l), pH (4.5-6.5), fermentation time (48-96 hrs), and temperature (25-35?). A maximum bioethanol yield of 33.9 g/l was practically achieved following thirty different experimental runs, as specified by 24-Central Composite Design (CCD). The optimum values for the aforementioned four parameters, corresponding to the maximum yield, were: 75g/l, pH 5.5, 72 hrs, 30?, respectively. The obtained experimental data were utilized to develop a semi-empirical model, based on a second-degree polynomial, to predict bioethanol yield. The model was tested using ANOVA software (Design expert® 9) and found acceptable (R2=0.9025). Yield response surface and contour plots were created using the developed model, which revealed the presence of high-yield plateaus whose specifications will be useful in controlling pilot-or industrial scale future units to ensure economical feasibility.
This paper proposes the design and simulation of Interval Type-2 Fuzzy Logic Control using MATLAB/Simulink to control the position of the bucket of the backhoe excavator robot during digging operations. In order to reach accurate position responses with minimum overshoot and minimum steady state error, Ant Colony Optimization (ACO) algorithm is used to tune the gains of the position and force parts for the force-position controllers to obtain the best position responses. The joints are actuated by the electro-hydraulic actuators. The force-position control incorporating two-Mamdani type-Proportional-Derivative-Interval Type-2 Fuzzy Logic Controllers for position control and 3-Proportional-Derivative Controllers for force control. The nonlinearity and uncertainty in the model that inherit in the electro hydraulic actuator system are also studied. The nonlinearity includes oil leakage and frictions in the joints. The friction model is represented as a Modified LuGre friction model in actuators. The excavator robot joints are subjected to Coulomb, viscous and stribeck friction. The uncertainty is represented by the variation of bulk modulus. It can be shown from the results that the ACO obtain the best gains of the controllers which enhances the position responses within the range of (19, 23 %) compared with the controllers tuned manually.
In the field of engineering, 3D printers are indispensable due to their high precision. This study focuses on the construction and optimization of a 3D printer using aluminum T-slotted bars for the frame, Raspberry Pi 4 for control, and Lightburn software for image printing and machine control. After assembling the main components and programming with Marlin firmware, the machine was tested for vibration and noise reduction. The research compared the vibration of a diode laser and spindle during printing, revealing significantly lower vibration with the laser compared to the spindle. These findings demonstrate the effectiveness of the constructed 3D printer in reducing vibration and noise during operation.
In this work, the design procedure of a hybrid robust controller for crane system is presented. The proposed hybrid controller combines the linear quadratic regulator (LQR) properties with the sliding mode control (SMC) to obtain an optimal and robust LQR/SMC controller. The crane system which is represented by pendulum and cart is used to verify the effectiveness of the proposed controller. The crane system is considered one of the highly nonlinear and uncertain systems in addition to the under-actuating properties. The parameters of the proposed LQR/SMC are selected using Particle Swarm Optimization (PSO) method. The results show that the proposed LQR/SMC controller can achieve a better performance if only SMC controller is used. The robustness of the proposed controller is examined by considering a variation in system parameters with applying an external disturbance input. Finally, the superiority of the proposed LQR/SMC controller over the SMC controller is shown in this work.
The present work demonstrates the optimization process of Micro- hole of Electrical Discharge Machining (EDM) by Adaptive Neuro Fuzzy Inference System (ANFIS). The workpiece material was copper alloy. The current, gap distance and pulse on time were the control parameters of EDM. The process has been successfully modeled using ANFIS model constructs a fuzzy inference system in MATLAB 7.2 Software Gaussian type for optimization of micro diameter, were adopted during the training and testing process of ANFIS model in order to compare the prediction accuracy of micro diameter by one membership function. Finally, the comparison of ANFIS results with experimental data indicates that adoption of Gaussian membership function in proposed system achieved satisfactory accuracy. Prediction using ANFIS model compared with experimental values of micro holes at correspond ratio 98.37%.
This work describes seam welding process using dissimilar ferrous metals by pulsed Nd:YAG. The main objective of this work is to achieve the best welding conditions. This imposes careful selection for the welding parameters and inevitably the well design of experiment (DOE). Sheets of ASTM A240/316L stainless steel to ASTM A570/Gr30 carbon steel all of 0.5 mm in thickness were lap welded. Different pulse energies or the related peak power, pulse duration, pulse repetition rate, and welding speeds were used. Moreover, different welding speeds were controlled by the employed manipulator. The laser beam spot diameter and the standoff distance were fixed. Experimental results are supported by the computational 2D and 3D models. In this article response surface methodology (RSM) was applied to design the experiment and obtain the best parameters through a set of mathematical models that define the weld characteristics. The results show that the best joint in term of joint strength is obtained at 31.9 J pulse energy (related to 5.5 kW peak power and 5.8 ms pulse duration), power density of 1.43×106 W/cm2, 1.5 Hz pulse repetition rate, and 0.5 mm/s welding speed.
This paper provides a theoretical framework for analysis of consensus algorithm for multi-agent networked systems considering the role of directed information flow. Improvement of the performance of the implemented consensus algorithm has been achieved by using Particle Swarm Optimization (PSO). Concepts of information consensus in networks and methods of convergence are applied as well. Our analysis framework is based on tools algebraic Graph Theory (GT). Simulation of multi-agent system and the performance of a consensus algorithm have been discussed. Acceleration the network while approaching the required goal has been accomplished and elimination of undesired swing that appears during the acceleration was proved.
The daily peak load forecasting for the next day is the basic operation of generation scheduling. The approach of using ANN methodology alone is limited which has generated interest to explore hybrid system. In this paper a search of genetic programming to a short term load forecasting is presented. A genetic architecture with the fitness normalization has been used to find as optimum data peak load of Baghdad city. The optimize data applied to the ANN to be trained and tested to estimate the daily peak load of Baghdad city. Different cases for load forecasting are considered with the aid of MATLAB 7 package to get the estimation of the next day. So an improvement method of genetic optimization is proposed to get a better solution for the load estimation rather than artificial neural network.
Autism Spectrum Disorder (ASD) is one of the most common children's neurodevelopmental disorders (NDD) with an estimated global incidence of 1% to 2%. There are two aims for this research, first, to propose a data mining architecture that combines behavioural and clinical characteristics with demographic data. Second, to provide a quick, acceptable and easy way to support the ASD diagnosis. this can be performed by conducting a comparison study to determine the efficacy of four possible classifiers: logistic regression (LR), sequential minimum optimization (SMO), naïve Bayes, and instance-based technique based on k-neighbors (IBK). These classifiers have been performed with Waikato Environment for Knowledge Analysis (WEKA) tools to distinguish autistic adults from healthy, normal subjects. The results showed that, with 99.71%, SMO classification accuracy was 99.71, which exceeded the accuracy of other classifiers. The proposed architecture allows for early detection of ASD, distinguishing between ASD and healthy control subjects. This study could help doctors and clinicians by giving them a better idea of what the future holds for people with autism spectrum disorder (ASD) and by improving therapy programs, allowing people with ASD to live a long and happy life.
Applying conjunctive use between surface water and ground water is getting widely used at many regions in the world, due to the increasing need of water resources, especially when large quantities of water and for long time are used for irrigation purposes to meet agricultural production requirements.The linear programming has been formulated to optimize the optimum allocation of water. An economic analysis of conjunctive use for Al-Wand project in Iraq has been done for a certain cropping pattern using two scenarios of management and operation of ground water and surface water. One suggested scenario was to use ground tank to save the water during the period of water excess to be used during the shortage period. The other scenario was to operate the reservoir dam to supply the water requirements during the agriculture years. The main concerns of this research were: the fluctuation of the ground water and how to estimate the deficit of yield which is caused by using the decreased water in irrigation. The economic analysis has been done by calculating the overall cost and the annual estimation of return. It can be concluded that the operation of surface water at (60 and 70%) from total available surface is a compromise, because some of the water still flow in the river and canals and the ground water reservoirs were not affected especially its storage capacity.
Basrah is the richest town and the economic capital of Iraq. It suffers from lack of drinking water. This project is a dream to supply drinking water to Basrah citizens within WHO standards. Water should pass sedimentation and filtration stages before interring reverse osmosis unit. The design is carried out using lewaplus2 software. Several parameters should be selected in the design step membrane type, number of stages, number per element in each stage, and the recovery percentage. An optimization is carried out using Minitab ver. 18 for the acceptable limit of TDS and minimum cost and it was found that the optimum conditions were 52% for first stage, the numbers of vessels are 20 for both the first and second stage. In addition, results showed that the pressure and the total dissolved solid increase with increasing the recovery while parameters like the feed flow rate per vessel, the power, and the cost are decreasing with the recovery. Mathematical model described the cost was conducted and statistical study was also done to ensure the results.
This study was devoted in investigating the optimum geometric parameters for underactuated linkage three phalanges robotic finger. New kinematic and kinetic equations of grasping were derived in this research taking into account the angle for the ternary solid links of the four-bar linkages. To obtain the target of optimization, a gradient descent method was used which consists of three stages to find the optimal geometric parameters with high accuracy. Five criteria were selected to find the optimal solution by using multi objectives function algorithm, these are percentage of the grasping stability, the grasp forces, squeezing force, Mimic function for grasping task, and transmission angle for grasping operation. Gradient descent method starts by detecting the optimal geometric parameters for each criterion and choosing the best geometric parameters from the five criteria functions. At the optimum solution, the underactuated robotic finger prototype was built from hard Polylactic acid (PLA) plastic using rapid prototyping and was tested performance by grasping objects. Finally, the results have been shown that the robotic finger adapts to the wanted configurations.
Hydraulic structures, including cascade aerators, may be acknowledged as important components in improving aeration efficiency because of the intense turbulent mixing combined with large air bubble entrapment at these structures. The main objective of the present study is to achieve maximum aeration efficiency and enhance the concentration of dissolved oxygen in the water since this is an important factor in improving water quality. The present study aims to determine the most proper geometric and dynamic parameters of a typical square-shaped stepped cascade with a total height of 120 cm, and sex steps. A tread of each step is 10 cm and a rise of each step is 20 cm, where aeration efficiency is maximized. The results of the study revealed that the maximum value of water aeration efficiency, meaning an increase in dissolved oxygen in the water using a stepped cascade aerator happened when flow rates of 15 L/min, 25 L/min, and 35 L/min with aeration efficiencies of 22%, 37%, and 42% respectively. Finally, the optimization of flow rates in aeration systems can lead to improved water quality parameters. The most important feature of the present study is the innovation of a natural method of water treatment that relies on the principle of mixing, coagulation, and flocculation by hydraulic methods, which works to reduce the costs of operation.
Orthoses and prostheses were Chosen and laminated based on their high Yield, ultimate stresses, bending stresses, and fatigue limit. Response Surface Methodology (RSM) was utilized to find the best values for two parameters reinforcement perlon fiber and percent of Titanium Nanoparticle coupled with the matrix resin during optimization. The response surface methodology combined the expertise of mathematicians and statisticians to construct and analyze experimental models. Using this method, we identified 13 different lamination samples comprising a wide range of perlon number and Ti nano Wt% in their Perlon layer composition. All lamination materials defined by RSM methods and produced by a vacuum system were subjected to a battery of tests, with fatigue tests performed on the ideal laminating material in contrast to laminations created in the first study (Tensile test, Bending test, and Fatigue tests according to the ASTM D638 and D790 respectively). In comparison to the other 12 laminations tested using Design Expert version 10.0.2, the lamination with ten perlon layers and 0.75 percent Ti nano proved to be the strongest overall in terms of Yield, ultimate, and bending loads. This study used composite materials and titanium nanoparticles to characterize and fabricate ankle foot orthoses. Strength in bending should amount to about 70 MPa, around 85 MPa in tensile tension. Two empirical quadratic equations for the models of peak bending strength and maximum tensile stress with 95% confidence were created using the response surface approach and analysis of variance within the design of experiments software.
Cascade single mode-No Core - single mode fiber structure (SNS) optical filters have garnered a lot of interest as dependable optical devices. These devices' simplicity, compactness, affordability, all-fiber design, low transmission loss, and ability to continuously adjust the laser wavelength at a particular spectral range contribute to their dependability. The operation's foundation is multimode interference (MMI) and self-image phenomena. SNS filter based on optimized 4th self-imaging condition for different NCF- Specifications was theoretically optimized a tunable filter based on a cascade single mode-no core-single mode (SNS) fiber structure encircled by Ferrofluid was experimentally investigated. The findings indicate that reducing the NCF diameter can enhance the filter's tunability. device has applications in fiber laser technology, spectroscopy, and optical communication.
Whispering Gallery Mode Micro-Resonators (WGMRs) have received significant interest due to their great sensitivity to environmental changes, compact size, and ability to operate over a wide spectral range because their low optical losses produce high-quality factors so that they can be used in various sensing applications. This work investigates the design and implementation of cylindrical WGMRs for Refractive Index (RI) sensing for different delivery fiber diameters. Single Mode Fiber with different waist diameters (80,67.1,18) µm were used as delivery fibers. At the same time, the sensor (resonator) fiber is SMF with a diameter (125 µm). Quality factors and Free Spectral Range (FSR) were calculated and analyzed for each diameter. The quality factor for all diameters was in power of 104, which is considered good. The FSR is inversely proportional to fiber diameter. FSR values were (0.678,1.75,2.03) nm for (80,67.1,18) µm delivery fiber diameters respectively. An analyte prepared by NaCl with different refractive indices is used to investigate the RI sensor performance. Higher sensitivity is obtained from the WGMR with a smaller waist diameter, which is (-)74 nm/RIU. While for the delivery fiber diameters (80,67.1) µm were (-0.28, -9.27) nm/RIU respectively. The submitted sensor will have a good contribution in the field of chemical, biological and medical applications.
Due to the Kurdistan regional government-KRG district mission potential towards huge solar energy power generation plant investments by global investors, a genuine study is required to explore the impact of PV-panels installation angles on power generation gain within all seasons duration as the KRG located in four season area which, affect the annual total power gain due to daylight duration effect in each season. The proposed study was conducted within a duration of “513” days utilizing three PV tilt installation angle tests of “ 30⁰, 35⁰, and 40⁰ ” with “ 545 watts single side PV plates” selecting the Erbil district area gaining a crucial role in maximizing energy output for comparison, Results presented a significant variation in power gain due to deviations in annual effective daylight duration effectively mostly a reduction in cold seasons within 25%-37.7% drops compared to the hot season, while the sunset and sunrise duration presented a significant influence of 5%-10% drops in power generated. The season change shows a significant influence of weather variation in each calendar on power gain annually. The installation orientation angle impact presented divergence in production within the cold season only. Process output can potentially unlock a novelty awareness of the investors toward innovative yield project optimization in the area as it will affect the annual power purchasing influence and production divergence with interest.
The aim of this work is to determine the optimum parameters for deposition of chitosan and mixture of chitosan and hydroxyapatite (HA) layers using electrophoretic deposition. The layers were on 316L stainless steel substrate. Taguchi approach was utilized to select the optimum parameters for both layers. The parameters used for deposition chitosan are voltage, time and temperature while the parameters used for HA and chitosan are voltage, time, concentration and temperature. Zeta potential tests were employed to measure the solutions stability. Coating layers were characterized for thickness, porosity and nanoroughness using optical microscopy (OM) and atomic force microscopy (AFM). The results from Taguchi design of experiments demonstrated that the best conditions for deposition of chitosan and HA layers are 50 V, 5 min, 3 g HA/L and 30°C. The corresponding thickness, % porosity, nanoroughness and microroughness for optimum conditions were 22 µm, 3.53, 4.48 nm and 3.85 µm respectively.
Recent scholarly efforts have extensively explored the efficacy of solar dish concentrators through both numerical simulations and empirical investigations. These studies predominantly scrutinize the interplay between solar receiver geometry and the dual objectives of minimizing heat loss while amplifying thermal efficiency. This comprehensive review synthesizes the spectrum of research dedicated to examining various cavity receiver geometries alongside their optimization techniques when integrated with parabolic dish collectors. We systematically assess configurations, including flat-sided, cylindrical, conical, and hemispherical designs. Our findings highlight that for an inlet temperature set at 200oC, the conical cavity receiver is distinguished by an exergy efficiency of 30%, a thermal efficiency approximating 70%, and an optical efficiency nearing 87%, maintaining a working fluid temperature range of 650°C to 750°C. The elevated operational temperatures, coupled with the inherent geometry of the cavity, accentuate the significance of mitigating heat losses attributed to convection, conduction, and radiation, as these factors critically impinge on system performance. Additional variables such as cavity inclination angle, diameter-to-depth ratio, tubing contour, and material selection are identified as instrumental in influencing cavity heat losses. Consequently, the pursuit of an optimized cavity receiver geometry emerges as a pivotal area of study. Drawing upon the issues analyzed, we propose strategic recommendations and conclude with insightful remarks poised to guide future research endeavors.
The main objective of this study is to design the asphalt pavement structure for the Alkut-Mayssan highway in Iraq as a case study by using PCASE application to determine the necessary thickness of CR-modified asphaltic layers. Additionally, Marshall tests were used to investigate the effect of the dry process crumb rubber modifier on the thickness of the binder coarse layer based on various variables, such as the crumb rubber modifier with different content (1, 2, 3, 4, 5)% and sizes (0.3mm, 2.36mm , 4.75mm, and mix gradation). The test results show that while pavement thickness reduced as crumb rubber gradation increases, MR values increase. Additionally, as compared to the control mixture, the addition of 1% of CR in various gradations could decrease the thickness of the asphalt binder layer.
This paper presents the design of robust four parameters (two degree of freedom) PI-PD controller based on Kharitonov theorem for antilock braking system. The Particle Swarm Optimization (PSO) method is used to tune the parameters of the proposed controller based on Kharitonov theorem to achieve the robustness over a wide range of system parameters change. The proposed cost function combines the time response specifications represented by the model reference and the frequency response specifications represented by gain margin and phase margin and the control signal specifications. The model reference control is used because of the antilock braking system is originally nonlinear and has different operating points. The robust stability is guaranteed by applying the Kharitonov theorem. Three types of road conditions (dry asphalt, gravel and icy) are used to test the proposed controller.
The Unified Power Flow Controller (UPFC) is a most complex power electronic device, which can simultaneously control a local bus voltage and optimize power flows in the electrical power transmission system. This paper presents the effect of installing the UPFC on the Iraqi (400 kV) grid transmission system to control the active and reactive power flow by choosing the optimal location and parameters of Unified Power Flow Controllers (UPFCs), which were specified based on the Genetic Algorithm (GA) optimization method. The objectives are improving voltage profile, reducing power losses, treating power flow in overloaded transmission lines, and reducing power generation. The steady state model of UPFC has been adopted on (400 kV) Iraq transmission lines and simulated using the MATLAB programming language. The Newton-Raphson (NR) numerical analysis method has been used for solving the load flow of the system. The practical part has been solved through Power System Simulation for Engineers (PSS\E) software Version 32.0. The Comparative results between the experimental and practical parts obtained from adopting the UPFC were too close and almost the same under different loading conditions, which are (5%, 10%, 15% and 20%) of the total load.
The aim of this work is to optimize EPD variables (voltage, time, and focus) using alternating current through the Taguchi Design of Experiment (DOE). Coating Nano hydroxyapatite (Nano-HA) on a Ti6Al4V substrate depends on thickness and roughness, then characterization of a coating layer to determine the optimum state. Hydroxyapatite (HAp) powder was deposited on a Ti-6Al-4V alloy substrate by electro-deposition with ethanol as a solvent under AC current, to improve the alloy surface quality based on coating thickness and maximum coating mass meeting the requirements of a biological orthopedics application. Ethanol was used as a solvent to precipitate ketazone and HAp on the base alloy. Taguchi's approach was used in order to determine the optimal conditions for EPD and subsequently to apply various criteria for depositing the biochemical coating. The surface and cross-section composition of the paint is described by characterization. Numerous tests and inspections; Zeta, XRD and SEM stability test, water contact angle and optical microscopes were used to describe the surface morphology of the HAp layer. The value of the optimum conditions for deposition of the HAp layer which is a simultaneous thickness and maximum coating mass, was predicted at a sedimentation voltage of 40 V, 2 min sedimentation time and 1 g / L for the concentration of the suspended solution at room temperature. The validity of the model resulting from the response surface methodology was assessed by comparing the expected results with the experimental results. In addition, close agreement was observed between the experimental results and the expected results. For the solution at room temperature, the results obtained with the highest value of the coating thickness of 41at the surface roughness of 0.94 and the contact angle of the alloy before coating is 67.489º reduced to. 38.132º after plating, which indicates an increase in the harmony of the metal implant and biocompatibility.
The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.
The transportation cost problem of solid waste presents the biggest part of the budget allocated by municipalities for SWM. So, there is no comprehensive plan to address transport routes optimization problems in SWM that including the transfer of solid waste from transfer stations to final landfill sites. Therefore, the aim of the study finding a scientific method to solve the transportation problem of solid waste transport suitable Baghdad city that tries to find feasible solutions that ensure reducing total transport costs and leads to an effective solid waste management system. In this research, a new methodology has been developed to select the optimal transport routs of SWM in Baghdad city which involves determining the best-supposed scenario. the proposed methodology includes integration of Global Positioning System (GPS) technologies with Network Analysis model (NA). Therefore, this work provides an advanced framework of decision-makers for analysis and simulation of the optimal transport routs problem related to SWM. Applying these modeling tools to select the scenario that can provide economic benefits by minimizing travel time, travel distance and reduction of total transportation costs. The Results of work implementation show that all solutions that include current state S1 and suggested scenarios have been evaluated. The scenarios generated include (S2, S3) by applying the proposed technique for analyzed and identified the optimal routes. The solutions of scenario S2, specified with two landfill sites while scenarios S3 specified with four landfill sites. Finally, this work shows the Scenario S3 is the best scenario of the solution, that include applied GPS and Network Analysis for four landfill sites.
Recently, there is increasing interest in using the 18 THz bandwidth offered by S+C+L band to increase the transmission capacity of fiber communication systems. This leads to the generation of ultra-wideband (UWB) wavelength-division multiplexing (WDM) optical communication systems. In these advanced systems, stimulated Raman scattering (SRS) causes a power transfer from high-frequency channels to low-frequency channels. This effect leads to an increase in the nonlinear interference (NLI) between the UWB-WDM channels. Power optimization techniques are required to balance transfer power between band channels, thus increasing the maximum transmission reach (MTR) along with increasing system capacity. In this paper, the transmission performance of S+C+L band system operating with dual-polarization 16-QAM signaling is investigated using enhanced Gaussian noise model. The transmitter and receiver for each DP channel use a -polarized laser and incorporate two identical configurations, one for x- and the other for y-state of polarization (SOP). The results are presented for two values of symbol rate, 40 and 80 GBaud, where the system carries 360 (=160+80+120) and 180 (=80+40+60) channels, respectively. The results revel that the MTR of both cases is equal to 12 100 km-spans when the channel lunch power equals to -4 and -2 dBm, respectively. This work also shows the effect of NLI components as a function of the number of spans, channel spacing, and channel launch power. The results show that the cross-phase modulation component of the NLI has high accumulated value with transmission distance, while the self-phase modulation component is almost constant.