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Article
Fuzzy-Neural Control of Hot-Rolling Mill

Authors: Khearia Mohamad --- Abduladhem A Ali --- R. Nagrajan
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 2 Pages: 150-157
Publisher: Basrah University جامعة البصرة

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Abstract

This paper deals with the application ofFuzzy-Neural Networks (FNNs) in multi-machinesystem control applied on hot steel rolling. Theelectrical drives that used in rolling system are aset of three-phase induction motors (IM)controlled by indirect field-oriented control(IFO). The fundamental goal of this type ofcontrol is to eliminate the coupling influencethough the coordinate transformation in order tomake the AC motor behaves like a separatelyexcited DC motor. Then use Fuzzy-NeuralNetwork in control the IM speed and the rollingplant. In this work MATLAB/SIMULINK modelsare proposed and implemented for the entirestructures. Simulation results are presented toverify the effectiveness of the proposed controlschemes. It is found that the proposed system isrobust in that it eliminates the disturbancesconsiderably

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Article
Speed Control of Steel Rolling MLII using Neural Network

Authors: Abduladhem A. Ali --- Alaa M. Abdulrahman
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2006 Volume: 2 Issue: 1 Pages: 1-6
Publisher: Basrah University جامعة البصرة

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Article
Polygon Shape Formation for Multi-Mobile Robots in a Local Knowledge Environment

Authors: Abduladhem A. Ali --- Abdulmuttalib T. Rashid
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2019 Volume: 19 Issue: 2 Pages: 39-46
Publisher: Basrah University جامعة البصرة

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Abstract

The formation is an important task in multi-mobile robots coordination in a defined environment. In a local knowledge environment the multi-mobile robot formations are realized using small robots with minor hardware requirements. The localization, path planning and obstacle avoidance processes are required to perform formation. In this paper a static strategy for polygon shape formation is implemented using a several number of mobile robots. This strategy has a better efficiency, since it use the cluster matching algorithm instead of the triangulation algorithm in completing the formation. Also, the visibility binary tree algorithm and the reciprocal orientation algorithm are used in this paper. This strategy has better performance in the multi-robot formation, since it use the cluster matching algorithm instead of the triangulation algorithm.


Article
GUI Simulation for Movement of Human Arm Driven by EMG Signal

Authors: Abbas Hussien Miry --- Abduladhem A.Ali --- Mohammed Zeki Al-Faiz
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2011 Volume: 29 Issue: 8 Pages: 1597-1609
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This work presents a simulation methodology applied to a human arm. It isaimed to allow the human-assisting manipulators to perform complex movementbased on electromyography (EMG) signal for patient person in Virtual Reality(VR). This work achieves better classification with multiple parameters based KNearestNeighbor for different movements of a prosthetic arm. A K- NearestNeighbor (K-NN) rule is one of the simplest and the most important methods inpattern recognition. The method implements in the 3D space and uses theMATLAB Ver.2009a approach. This methodology can be used with differentrobots to test the behavior of system and the different motion


Article
Building an HMI and Demo Application of WSN-based Industrial Control Systems

Authors: Ali A. Abed --- AbdulAdhem A. Ali --- Nauman Aslam
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2011 Volume: 7 Issue: 2 Pages: 107-111
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper we present the details of methodologypursued in implementation of an HMI and Demo TemperatureMonitoring application for wireless sensor-based distributedcontrol systems. The application of WSN for a temperaturemonitoring and control is composed of a number of sensor nodes(motes) with a networking capability that can be deployed formonitoring and control purposes. The temperature is measuredin the real time by the sensor boards that sample and send thedata to the monitoring computer through a base station orgateway. This paper proposes how such monitoring system canbe setup emphasizing on the aspects of low cost, energy-efficient,easy ad-hoc installation and easy handling and maintenance.This paper focuses on the overall potential of wireless sensornodes and networking in industrial applications. A specific casestudy is given for the measurement of temperature (withthermistor or thermocouple), humidity, light and the health ofthe WSN. The focus was not on these four types ofmeasurements and analysis but rather on the design of acommunication protocol and building of an HMI software formonitoring. So, a set of system design requirements aredeveloped that covered the use of the wireless platforms, thedesign of sensor network, the capabilities for remote data accessand management, the connection between the WSN and an HMIsoftware designed with MATLAB.

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Article
A k-Nearest Neighbor Based Algorithm for Human Arm Movements Recognition Using EMG Signals

Authors: Mohammed Z. Al-Faiz --- Abduladhem A.Ali --- Abbas H.Miry
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 2 Pages: 158-166
Publisher: Basrah University جامعة البصرة

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Abstract

In a human–robot interface, the prediction ofmotion, which is based on context information of a task,has the potential to improve the robustness and reliabilityof motion classification to control human-assistingmanipulators. The electromyography (EMG) signals canbe used as a control source of artificial arm after it hasbeen processed. The objective of this work is to achievebetter classification with multiple parameters using KNearestNeighbor for different movements of a prostheticarm. A K- Nearest Neighbor (K-NN) rule is one of thesimplest and the most important methods in patternrecognition. The proposed structure is simulated usingMATLAB Ver. R2009a, and satisfied results are obtainedby comparing with conventional method of recognitionusing Artificial Neural Network(ANN), that explains theability of the proposed structure to recognize themovements of human arm based EMG signals. Resultsshow the proposed technique achieved a uniformly goodperformance with respect to ANN in term of time which isimportant in recognition systems, better accuracy inrecognition when applied to lower SNR signal .

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Article
Neuro-FUZZY Control of Single Machine Infinite Bus Power System

Authors: Rsheed S. Jassim --- Abbas H. Abbas --- Abduladhem A. Ali
Journal: Basrah Journal for Engineering Science مجلة البصرة للعلوم الهندسية ISSN: Print: 18146120; Online: 23118385 Year: 2010 Volume: 10 Issue: 1 Pages: 37-45
Publisher: Basrah University جامعة البصرة

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Abstract

The excitation and governing control of generator flay an important role in improving the dynamic and transient stability of power system. Typically the excitation control and governing control are designed independently. This paper, presented Neuro-Fuzzy methods for the excitation and governing control Neuro-Fuzzy system is applied to generate two compensating signals to modify the controls during system disturbances. A single machine to infinite bus (SMIB) system is applied in simulation. The MATLAB SIMULIK and S-function technique is used to simulate the system and controllers

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Article
Fuzzy Petri Net Controller for Quadrotor System using Particle Swam Optimization

Authors: Abduladhem A. Ali --- Mohammed J. Mohammed --- Mofeed Turky Rashid
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2015 Volume: 11 Issue: 1 Pages: 132-144
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, fuzzy Petri Net controller is used for Quadrotor system. The fuzzy Petrinet controller isarranged in the velocity PID form. The optimal values for the fuzzy Petri Net controller parameters have beenachieved by using particle swarm optimization algorithm. In this paper, the reference trajectory is obtained from areference model that can be designed to have the ideal required response of the Quadrotor, also using the quadrotorequations to find decoupling controller is first designed to reduce the effect of coupling between different inputs andoutputs of quadrotor. The system performance has been measured by MATLAB. Simulation results showed that theFPN controller has a reasonable robustness against disturbances and good dynamic performance.


Article
Expert Controller for Road Tracking Mobile Robot
مسيطر خبير لروبوت متحرك يتبع خارطة طريق

Authors: Abduladhem A. Ali (SMIEEE) --- Ali A. Abed (MIEEE)
Journal: The islamic college university journal مجلة كلية الاسلامية الجامعة ISSN: 62081997 Year: 2016 Issue: 38 Pages: 143-157
Publisher: Islamic University / Najaf الجامعة الاسلامية / النجف الاشرف

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Abstract

the road boundaries provide useful information for performing safe vehicle moving paths in intelligent or expert vehicles. Many previous researches have treated road boundary detection, using different types of sensors such as vision, ultrasonic, RADAR, LIDAR (Light Detection and Ranging), and LRF (Laser Range Finder). In spite of that these sensors show advantages for road boundary extraction including good resolution but IR sensor is the most famous device for measuring small distances since it has a high accuracy, fast response time, low cost and a wide field of view. However, none of the previous works examined the problem of detecting road boundaries when roads could be structured with narrow regions. In this paper, we developed road boundary detection and tracking algorithm using two IR sensing for structured roads with narrow regions distributed along the road. The algorithm extracts road dimensions and distances relative to Left and Right IR sensors keeping the robot vehicle in the center of the road. The measured distances are kept constant by controlling analog inputs of the sensors using an expert controller. ARM processor controller is used to control the navigation of the mobile robot in this environment. The speed and direction of the robot are controlled by Pulse Width Modulation (PWM) signals generated by the ARM controller. Emphasis has been attributed to the design of the motor driver switching module in order to achieve effective and energy saving driving using power transistor drivers. The system is tested using a road prototype made from wood prepared for that purpose. It proved a good working in environments with narrow regions yielding a safe movement for the robot.Keywords - Expert controller, Center road tracking, IR sensor, ARM processor, Multimodal road

إن حدود الطريق تعطي معلومات نافعة عن كيفية تحقيق مسار حركي آمن للمركبات الخبيرة والذكية. العديد من الابحاث تعاملت مع مسألة هيكل الشوارع وكشف حدودها باستخدام انواع مختلفة من المتحسسات مثل الكاميرات، المتحسسات فوق الصوتية، المتحسسات الرادارية الخ. على الرغم من ان هذه المتحسسات اثبتت مزايا جيدة في عملية كشف خرائط الطرق وبدقة مقبولة، الا ان متحسسات الاشعة تحت الحمراء هي الاشهر لدقتها العالية واستجابتها السريعة وكلفتها الواطئة. لم تتطرق البحوث السابقة الى مسألة ايجاد حدود الطرق عندما تكون الطرق غير منتظمة اي تحتوي على مناطق عريضة واخرى ضيقة. في هذا البحث تم تطوير خوارزمية كشف ومتابعة لحدود الطرق بالاعتماد على حساسين اشعة تحت الحمراء في شوارع تحتوي على مناطق ضيقة موزعة على طول الطريق. الخوارزمية تقوم بحساب ابعاد الطريق والمسافات نسبة لسينسورات اليمين واليسار وبذلك تحافظ على وجود الروبوت في مركز الطريق. تبقى هاتين المسافتين ثابتة بواسطة المسيطر الخبير. ان نوع المسيطر المستخدم هو معالج نوع ARM اعتمد بعد برمجته كمسيطر على ملاحة الروبوت في بيئة العمل. تم السيطرة على السرعة والاتجاه وذلك بالاعتماد على موجة PWM تم توليدها من قبل المسيطر. تم ايضا بناء سواقة محرك كفوءة وفعالة باستخدام احد ترانزستورات القدرة. تم اختبار النظام في بيئة شارع خشبي تم تصنيعه كنموذج لهذا الغرض. اثبت الروبوت المصمم عمل جيد في بيئة غير منتظمة وتم الحصول على حركة آمنة.


Article
Polygon Shape Formation for Multi-Mobile Robots in a Global Knowledge Environment

Authors: Abdulmuttalib T. Rashid --- Abduladhem A. Ali --- Mattia Frasca
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2019 Volume: 15 Issue: 1 Pages: 76-88
Publisher: Basrah University جامعة البصرة

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Abstract

In coordination of a group of mobile robots in a real environment, the formation is an important task. Multimobilerobot formations in global knowledge environments are achieved using small robots with small hardwarecapabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidanceshould be accomplished. Finally, several static and dynamic strategies for polygon shape formation areimplemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, havebeen investigated. These strategies have better efficiency in completing the formation, since they use the clustermatching algorithm instead of the triangulation algorithm.

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