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2014

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Static Stability Analysis Of Hexagonal Hexapod Robot For The Periodic Gaits, Firas A., Hind Z. Khaleel Jan 2014

Static Stability Analysis Of Hexagonal Hexapod Robot For The Periodic Gaits, Firas A., Hind Z. Khaleel

Iraqi Journal of Computers, Communications, Control and Systems Engineering

Hexagonal hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot likes insect so it has the same periodic gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking can be indicated by the stability margin. In this paper we based on the forward, inverse kinematics for each hexapod’s leg to simulate the hexapod robot model …

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State Space Parameters Estimation Using Online Genetic Algorithms, Ali Hussein, Alexander N. Grachev, Saad Jabbar Abbas Jan 2014

State Space Parameters Estimation Using Online Genetic Algorithms, Ali Hussein, Alexander N. Grachev, Saad Jabbar Abbas

Iraqi Journal of Computers, Communications, Control and Systems Engineering

Accurate on-line estimates of critical system states and parameters are needed in a variety of engineering applications, such as condition monitoring, fault diagnosis, and process control. In these and many other applications it is required to estimate a system variable which is not easily accessible for measurement, using only measured system inputs and outputs. The classical identification methods, such as least-square method, are calculus-based search method. They have many drawbacks such as requiring a good initial guess of the parameter and gradient or higher-order derivatives of the objective function are generally required also there is always a possibility to fall …

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Nonlinear Controller Design For A Mobile Manipulator Trajectory Tracking, Waladin K., Shibly Ahmed Al-Samarraie, Abdulmohaimen B. Kassim Jan 2014

Nonlinear Controller Design For A Mobile Manipulator Trajectory Tracking, Waladin K., Shibly Ahmed Al-Samarraie, Abdulmohaimen B. Kassim

Iraqi Journal of Computers, Communications, Control and Systems Engineering

In this paper, a mobile manipulator consisting of four degrees of freedom (4-DOF) robotic manipulator mounted at the top of a mobile platform (front point) of a mobile robot with four differential drive wheels is presented. A mobile manipulator combines the dexterous manipulator capability offered by fixed-based manipulators and the mobility offered by the mobile robot. The work inVolves the modeling of mobile manipulator robot and using the partial feedback linearization approach. The central idea is to algebraically transform nonlinear systems dynamics into partially linear form, so that linear control techniques can be applied to control on the wheel mobile …

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Development Of Model Predictive Controller For Congestion Control Problem, Amjad J., Hamid M. Hasan, Firas A. Raheem Jan 2014

Development Of Model Predictive Controller For Congestion Control Problem, Amjad J., Hamid M. Hasan, Firas A. Raheem

Iraqi Journal of Computers, Communications, Control and Systems Engineering

Nowadays congestion in computer networks is pointed out as an important and a challenging problem. TCP (Transmission Control Protocol) has the mechanism to avoid congestion in computer networks. TCP detects congestion by checking acknowledgements or time-out processing and adjusts TCP window sizes of senders. However, this control method shows low efficiency in communications because it is based on a mechanism that avoid congestion after congestion once appears in computer networks. TCP random early detection RED is another popular congestion control scheme. The fundamental idea behind this control algorithm randomly drops the incoming packets proportional to the average queuing length and …

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Modified On-Line Rls Identification For Condition Monitoring, Mazin Z., Shaima B. Ayoob Jan 2014

Modified On-Line Rls Identification For Condition Monitoring, Mazin Z., Shaima B. Ayoob

Iraqi Journal of Computers, Communications, Control and Systems Engineering

The Recursive Least Squares (RLS) is usually utilized in control applications as in self-tuning strategy to estimate the plant discrete-time transfer function. Furthermore, it can be used as a tool to continuously monitoring the operating condition of the plant under control. However, in such applications, the RLS should be always in a “wake up” state so that it can estimate, in a few sampling time, the plant transfer function after any abrupt change in its dynamic. In this work, two modifications to the standard RLS are presented. The first modification is called the “switching forgetting factor” while the other is …

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Collective Robotics Search Using Particle System, Ahmed Ibraheem Jan 2014

Collective Robotics Search Using Particle System, Ahmed Ibraheem

Iraqi Journal of Computers, Communications, Control and Systems Engineering

This work introduces the implementation of particle system to be simulated to work as a group of unmanned mobile robots (swarm robots). These robots are able to locate a specified target in the predefined environment with high efficiency when driven by an optimized Particle Swarm Optimization (PSO) algorithm. The application of the particle system to the mobile robots to search for a target in the environment is called Collective Robotics Search (CRS) problem. The main benefit of this application is to eVolve better solutions than using single robot through the collective interaction of all robots between them to achieve the …

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