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Articles 151 - 180 of 2079

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Closing The Gap In Offshore Wind Environmental Evidence Chains: A Workshop-Derived White Paper, Jiaxin Chen, Lilian Lieber, Matthew Palmer, Dan Lear, Deborah Greaves Aug 2026

Closing The Gap In Offshore Wind Environmental Evidence Chains: A Workshop-Derived White Paper, Jiaxin Chen, Lilian Lieber, Matthew Palmer, Dan Lear, Deborah Greaves

School of Biological and Marine Sciences

Offshore wind development is accelerating at a time when environmental assessment is increasingly required to support timely consenting, cumulative-effects understanding, nature recovery, regional planning, floating offshore wind deployment and public trust. The workshop underpinning this White Paper was convened in recognition that the sector's central challenge is no longer simply a lack of data, but the weak connection between data, monitoring approaches, models, uncertainty, governance and decision-making.Environmental monitoring often remains project-specific and receptor-focused, while models remain component-specific or scenario-specific. Data systems are similarly fragmented across owners, repositories, formats, access arrangements and project lifecycle stages. Yet regulators and statutory advisers require …

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Rockin’ Rover On The Rainbow Road, Michael Kolta, Lawrence Burgee, Ying Yuan Aug 2026

Rockin’ Rover On The Rainbow Road, Michael Kolta, Lawrence Burgee, Ying Yuan

Transformations

This paper presents a progressive series of age-appropriate lesson plans for grades K-12 that all use the same interdisciplinary activity to educate students about Science, Technology, Engineering, Art, and Mathematics (STEAM) simultaneously. Technology from Texas Instruments (TI) was employed including a TI Nspire graphing calculator that can run Python programs, a TI Innovator Hub, and a TI Rover. The TI Rover is a small, robotic car that has sensors and is controlled by the calculator via the Hub hardware interface. A Python program was developed that uses the color sensor in the Rover to detect the color on colored paper …

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The Aggregation Of Microplastics By Enhancing Extracellular Polymeric Substance Production In Pseudoalteromonas Sp. Ncimb 2021 To Improve Removal Efficiencies In Environmental Matrices, Janelle L. Mercer Aug 2026

The Aggregation Of Microplastics By Enhancing Extracellular Polymeric Substance Production In Pseudoalteromonas Sp. Ncimb 2021 To Improve Removal Efficiencies In Environmental Matrices, Janelle L. Mercer

All Theses

Microplastics (MP) are ubiquitous in the natural environment and are a growing threat due to their small size and durability. Plastics are released into the environment through improper waste management, wastewater treatment outfalls, industrial spills, agricultural runoff, and landfills. These particles breakdown into secondary MP through degradation pathways. MP, less than 5 mm, require intricate removal techniques from water systems. Filtration techniques, though viable and effective, have implementation constraints due to high cost, maintenance demands, and filter fouling. By integrating coagulation and flocculation processes prior to filtration, MP removal efficiencies can increase, while minimizing operational challenges during filtration. Extracellular polymeric …

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Purdue University General Institutional Description, Purdue University Office Of Research Aug 2026

Purdue University General Institutional Description, Purdue University Office Of Research

University General Facility Boilerplate Descriptions

Overview of Purdue University mission, statistics, and key cross-campus infrastructure.

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Water Flow Simulation Of Tigris River Between Samara And Baghdad Based On Hec-Ras Model, Imzahim Alwan, Zahraa Majeed, Ali Abbas Jul 2026

Water Flow Simulation Of Tigris River Between Samara And Baghdad Based On Hec-Ras Model, Imzahim Alwan, Zahraa Majeed, Ali Abbas

Engineering and Technology Journal

This work aims to use the digital elevation model (DEM) or 3-Dimensional surface to model and analyze the water flow in the Tigris River. The first stage of this study is based on filed data acquisition survey at 38 stations.  These stations were adopted to implement the one-dimensional steady and unsteady numerical flow models. The HEC-RAS software was used to implement these models. The most important results of the steady-state model were that the maximum discharge and velocity and minimum flow area were 638.17 m3/sec, 2.12 m/sec and 301.42 m2 respectively. These values occurred at station 66+700. While, the minimum …

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The Evaluation Of Rental Amount Of Religious Endowments By Using Geomatic Techniques And Machine Learning Algorithms Hilla/ Iraq, Oday, Jasim, Mohammed Mejbel, Ali Hashim Jul 2026

The Evaluation Of Rental Amount Of Religious Endowments By Using Geomatic Techniques And Machine Learning Algorithms Hilla/ Iraq, Oday, Jasim, Mohammed Mejbel, Ali Hashim

Engineering and Technology Journal

The religious endowments are one of the important sources, which acquire historical, cultural, and economic importance in all countries of the world. In particular, a religious endowment in Iraq includes several distributed real estates and lands that usually require efficient management systems. One of the most important factors affecting the management of real estates that belong to religious endowments is the rental amount of each real estate. In general, the estimation of the rental of real estates can support the future development of religious endowments. Governmental agencies are faced with some challenges in the management of religious endowments in terms …

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Improving The Properties Of A Polyester-Based Composite Using Nanoparticle Fillers, Zainab Younus, Laith Abbas, Abbas Hussein Jul 2026

Improving The Properties Of A Polyester-Based Composite Using Nanoparticle Fillers, Zainab Younus, Laith Abbas, Abbas Hussein

Engineering and Technology Journal

In this work, unsaturated polyester, resin, matrix reinforced, with fiberglass mat chopped were developed using TiO2 and SiO2 Nanoparticles as filler materials. The individual and combined effects of nanoparticles on the nanocomposite and material properties were examined. An improvement in Young’s modulus (39,3%) using combined weight of TiO2+ SiO2 was observed to be 3%. Examined nanoparticles have shown normal distribution in grain size indicated to be within standard limit, therefore boosting nanocomposite material to have excellent hardness, roughness, impact, and flexural resistance. DSC was characterized by transitions in this material. SEM and EDS techniques were used to confirm the formation …

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Unit Commitment Solution Based On Improved Particle Swarm Optimization Method, Ali Abbas, Afaneen Anwer Jul 2026

Unit Commitment Solution Based On Improved Particle Swarm Optimization Method, Ali Abbas, Afaneen Anwer

Engineering and Technology Journal

This paper presents an algorithm to solve the unit commitment problem using the intelligence technique based on improved Particle Swarm Optimization (IPSO) for establishing the optimal scheduling of the generating units in the electric power system with the lowest production cost during a specified time and subjected to all the constraints. The minimum production cost is calculated based on using the Lambda Iteration method. A conventional method was also used for solving the unit commitment problem using the Dynamic Programming method (DP). The two methods were tested on the 14-bus IEEE test system and the results of both methods were …

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Field Oriented Control Of Afpmsm For Electrical Vehicle Using Adaptive Neuro-Fuzzy Inference System (Anfis), Nagham Farhan, Abdulrahim Humod, Fadhil Hasan Jul 2026

Field Oriented Control Of Afpmsm For Electrical Vehicle Using Adaptive Neuro-Fuzzy Inference System (Anfis), Nagham Farhan, Abdulrahim Humod, Fadhil Hasan

Engineering and Technology Journal

Axial Flux Permanent Magnet Synchronous Motor (AFPMSM) are very attractive candidates for driving applications due to their high efficiency, high torque-to-weight ratio, high power density, small magnetic thickness, and simplicity of construction. On the other hand, AFPMSM produces undesirable torque ripple in the developed electromagnetic torque, affecting their output performance. An intelligent control method is proposed in this paper to reduce torque ripple and improve the dynamic performance of AFPMSM.  The vector control, employing the Field Oriented Control (FOC) technique, was used to improve the dynamic performance of the AFPMSM. The speed and torque controllers are achieved using the decoupling …

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A Visual Enhancement Quality Of Digital Medical Image Based On Bat Optimization, Kholood Hussin, Ali Nahar, Hussain Khleaf Jul 2026

A Visual Enhancement Quality Of Digital Medical Image Based On Bat Optimization, Kholood Hussin, Ali Nahar, Hussain Khleaf

Engineering and Technology Journal

Improve medical image visualization is a critical preliminary step before further imagery processing like analyzing texture, extracting features, and segmentation. Imagery noises in medical images are frequently occurred as a consequence of different artificial processes such as acquisition, sending and receiving, and storing & retrieving processes. As a result, the quality of image visualization is degraded. Therefore, a de-noise process is important in order to maintain good image quality for medical purposes. In this paper, medical image enhancement aims to de-noise as much as possible while maintaining detailed features and edges. This work employed an optimization algorithm called "Bat" to …

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Optimal Localization Of Upfc For Transmission Line Losses Minimizing Using Particle Swarm Optimization, Ihssan Amin, Dhari Mahmood, Ali Numan Jul 2026

Optimal Localization Of Upfc For Transmission Line Losses Minimizing Using Particle Swarm Optimization, Ihssan Amin, Dhari Mahmood, Ali Numan

Engineering and Technology Journal

Losses in the transmission line have a significant and growing impact on power systems around the world. Line losses overheat power lines, therefore electrical power systems require powerful processors and intelligent management methods. Flexible AC Transmission System (FACTS) device UPFC is one of the most important devices due to its ability to reduce total line losses that cause an increase in the transmission line capacity of the power system. In this paper, we used Particle Swarm Optimization (PSO) to determine the optimal location for the installation of UPFC device to minimize losses in the transmission line in the Iraqi international …

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Reducing Vibrations Generated In A Gas Turbine Model Ms9001e Used In South Baghdad Power Plant Station By Improving The Design Of Bearings With Damper, Alaa Abdulah, Muhannad Khalifa, Abdul Jabbar Hanfesh Jul 2026

Reducing Vibrations Generated In A Gas Turbine Model Ms9001e Used In South Baghdad Power Plant Station By Improving The Design Of Bearings With Damper, Alaa Abdulah, Muhannad Khalifa, Abdul Jabbar Hanfesh

Engineering and Technology Journal

Gas turbines are engines an energy plant makes use of for generating the rotary motion to show power generators. The gas turbine is largely a combustion engine for changing natural gas or different liquid fuels to rotational mechanical energy. Often, the gas turbine generates excessive noise or vibrations. In this work, the problem of vibrations occurrence in the gas turbine model MS9001E used in the south Baghdad power station is solved. This is done by making a groove in the bearing pad to increase the oil flow, replacing the bearing type with a tilt-pad bearing type with damper. The finite …

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Experimental Study Of Air Ejector Performance To Cool Agricultural Products, Hassan Jawad, Qusay Abdul Ghafoor Jul 2026

Experimental Study Of Air Ejector Performance To Cool Agricultural Products, Hassan Jawad, Qusay Abdul Ghafoor

Engineering and Technology Journal

In this research, an ejector was designed and manufactured from brass metal as part of a cooling system to cool agricultural products, work of ejector is based on the Venturi principle. The primary fluid is air and steam of product is the secondary fluid, used the primary pressure (1, 8, 1) bar for the purpose of conducting the experiment. The ejector was manufactured from a number of interconnected parts to give the final shape. The performance of the ejector was analyzed theoretically, through operating of system evaporation of water take place in vessel  leads to cooling product at change operation …

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Distinguish The Textures Of Grasped Objects By Robotic Hand Using Artificial Neural-Network, Hassan Salman, Mohsin Hamzah, Sadeq Bakhy Jul 2026

Distinguish The Textures Of Grasped Objects By Robotic Hand Using Artificial Neural-Network, Hassan Salman, Mohsin Hamzah, Sadeq Bakhy

Engineering and Technology Journal

The object identification properties with tactile sensing are valuable in  interaction with the environment for both humans and robots, and it is the core of sensing used for exploration and determining properties of objects that are inaccessible from visual perception. Object identification often involves with rigid mechanical grippers, tactile information and intelligent algorithms. This paper proposes a methodology for feature extraction techniques and discriminates objects for different softness using adaptive robotic grippers, which are equipped with force and angle sensors in each four fingers of an underactuated robot hand. Arduino microcontroller and the Matlab program are integrated to acquire sensor …

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Experimental Investigation Of Dimensional Accuracy In Non-Traditional Sheet Metal Spinning Process For Producing Rectangular Spun Part, ِِAmmar Saleh, Aseel Abd, Aqeel Bedan Jul 2026

Experimental Investigation Of Dimensional Accuracy In Non-Traditional Sheet Metal Spinning Process For Producing Rectangular Spun Part, ِِAmmar Saleh, Aseel Abd, Aqeel Bedan

Engineering and Technology Journal

The non-conventional spinning process was adopted for producing polygons, but one of the process limitations is the error between design and the final product especially with no-mandrel. Dimensional accuracy was adopted for this purpose which gives an indicator of the ability of the formed part to matches the design and checking validated of the adopted methodology for producing rectangular cross-section spun parts, by comparing the coordinating points of real part with the points of the design model. The point of a real part was measured by using a sphere probe fixed on the three-axis milling machine and capturing the data …

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An Experimental Investigation Of The Dynamic Effects In Upper Drum Boiler Under Steam Mass Flow Rate Variation, Russul Mohammed, Hashim Hussein, Ali Numan Jul 2026

An Experimental Investigation Of The Dynamic Effects In Upper Drum Boiler Under Steam Mass Flow Rate Variation, Russul Mohammed, Hashim Hussein, Ali Numan

Engineering and Technology Journal

The dynamic effects in the “upper“ drum of the boiler (mechanical’s effects) are very complex problems and critical due to the pressure disturbance in the upper drum of the boiler. This work deals with an experimental investigation of the dynamic behavior of the boiler drum level system is reported from plant data (Al-Quds power plant) in Baghdad / Iraq under a particular condition of operating, and the mathematical equations of the boiler model variables explained and defined. The dynamic effects are investigated with increasing steam mass flow rate (10% and 20%) at the outlet of the boiler. The results showed …

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Utilization Of Satellite Images-Based Indices For Assessment Of Al-Hammar Marsh Restoration Plan, Bayda Dhaidan, Imzahim Alwan, Mahmoud Al-Khafaji Jul 2026

Utilization Of Satellite Images-Based Indices For Assessment Of Al-Hammar Marsh Restoration Plan, Bayda Dhaidan, Imzahim Alwan, Mahmoud Al-Khafaji

Engineering and Technology Journal

Wetland landscape characterization is an important component of determining the degree to which wetlands improve environmental conditions. The present study aims to create a model used to automated extraction of the land cover of the western part of the Al-Hammar Marsh south of Iraq, and then monitor the change in land cover overtime. A model builder in ArcGIS created based on a series of spectral-based indices included the Normalized Difference Vegetation Index (NDVI), the Normalized Difference Moisture Index (NDMI), and the Normalized Difference Water Index (NDWI), the OLI satellite images from 2013 to 2020, ENVI 5.3 and ArcGIS 10.4 were …

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Operation Of Mosul – Dokan Reservoirs And Samarra Barrage Using Hec – Ressim Model During Dry Period, Thabet Abdulateef, Raad Irzooki, Ali Abbas Jul 2026

Operation Of Mosul – Dokan Reservoirs And Samarra Barrage Using Hec – Ressim Model During Dry Period, Thabet Abdulateef, Raad Irzooki, Ali Abbas

Engineering and Technology Journal

The issue of time series records containing low inflow than normal, such critical period results in shortage in reservoir storage, thereby reduction in the reservoir's releases that satisfy the demands. When the expected available water is less than the demand, releases may be curtailed, and the reservoir is under stress. This study presents an application of HEC – ResSim model to simulate the operation of Mosul, Dokan Reservoirs, and Samarra Barrage during the dry period 19992000 (modeling of historical data). Simulated results and recorded data were compared in order to, first improve the applicability of the software to simulate reservoir …

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Fpga Implementation Of Modified Reconfigurable Adaptive Gain Scheduling Controller, Ali Wheed, Abbas Issa, Mohammed Y. Jul 2026

Fpga Implementation Of Modified Reconfigurable Adaptive Gain Scheduling Controller, Ali Wheed, Abbas Issa, Mohammed Y.

Engineering and Technology Journal

This article aims to put forward a modified type of adaptive gain scheduling that will be able to deal with the immeasurable and unpredictable variations of system variables by adapting its value at each time instance to follow any change in the input and overcome any disturbance applied to the system without the need to predetermine gains values. In addition, the inverse neural controller will precede the gain scheduling to eliminate the need for complex system linear zing and parameter estimation. Therefore, the problems of needing complex mathematics for system linearization and gains calculations have been solved. The performance of …

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A Study About E-Commerce Based On Customer Behaviors, Zainab Mohammed, Suhad Kadhem Jul 2026

A Study About E-Commerce Based On Customer Behaviors, Zainab Mohammed, Suhad Kadhem

Engineering and Technology Journal

E-commerce is one of the new virtual technologies that make life simpler for both traders, marketers, and customers. However, the main problem for the seller was how to know customer's intentions when they enter the website. This paper proposed to predict whether customers make a purchase or not from their previous behaviors.  Therefore, this paper aims to predict the intentions of users that using online -shopping. the main aim of this study is to highlight customer behaviors to predict purchases and make a compression between the works that are related to the subject of this paper to conclude and suggest …

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Intrusion Detection System For Nsl-Kdd Dataset Based On Deep Learning And Recursive Feature Elimination, Bilal Mohammed, Ekhlas Gbashi Jul 2026

Intrusion Detection System For Nsl-Kdd Dataset Based On Deep Learning And Recursive Feature Elimination, Bilal Mohammed, Ekhlas Gbashi

Engineering and Technology Journal

Intrusion detection system is responsible for monitoring the systems and detect attacks, whether on (host or on a network) and identifying attacks that could come to the system and cause damage to them, that’s mean an IDS prevents unauthorized access to systems by giving an alert to the administrator before causing any serious harm. As a reasonable supplement of the firewall, intrusion detection technology can assist systems to deal with offensive, the Intrusions Detection Systems (IDSs) suffers from high false positive which leads to highly bad accuracy rate. So this work is suggested to implement (IDS) by using a Recursive …

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Effect Of Tigris River's Stage On The Groundwater Level, Mustafa Al-Tahir, Thair Khayyun Jul 2026

Effect Of Tigris River's Stage On The Groundwater Level, Mustafa Al-Tahir, Thair Khayyun

Engineering and Technology Journal

The research studies the effect of change of the Tigris  River's surface stage on groundwater movement by building a three-dimension model  using GMS model for a catchment area in Baghdad city. The model is built and calibrated by using the information of 16 wells for the year 2015 . Three scenarios of river elevation stage are used when the stage  elevation is maximum, average and minimum. The movement of groundwater according to the results was from the north-west to the Tigris River location. Also, the results show the velocity of groundwater in case of the minimum water surface level stage …

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Optimized Pid Control Of Quadrotor System Using Extremum Seeking Algorithm, Abdullah Muhsen, Safanah Raafat Jul 2026

Optimized Pid Control Of Quadrotor System Using Extremum Seeking Algorithm, Abdullah Muhsen, Safanah Raafat

Engineering and Technology Journal

This paper presents the development of an automatic tuning of conventional PI-D controllers for Quadrotor system. The most critical problem of tuning the parameters of the PID, is that they can drastically affect the performance of the system. Accordingly, Extremum seeking (ES) algorithm is utilized here to reduce a selected cost function that brings the required performance aspects. The results show that the ES-PID controller provides better stability and performance as compared with only PI-D controller. The parameters of ES-PID controller have been successfully tuned and modified to reach the desired destination with significantly less overshoot, oscillations, and faster convergence.

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Outdoor Localization In Mobile Robot With 3d Lidar Based On Principal Component Analysis And K-Nearest Neighbors Algorithm, Hanan Atiyah, Mohammed Y. Jul 2026

Outdoor Localization In Mobile Robot With 3d Lidar Based On Principal Component Analysis And K-Nearest Neighbors Algorithm, Hanan Atiyah, Mohammed Y.

Engineering and Technology Journal

Localization is one of the potential challenges for a mobile robot. Due to the inaccuracy of GPS systems in determining the location of the moving robot alongside weathering effects on sensors such as RGBs (e.g. rain and light-sensitivity(. This paper aims to improve the localization of mobile robots by combining the 3D LiDAR data with RGB-D images using deep learning algorithms. The proposed approach is to design an outdoor localization system. It is divided into three stages. The first stage is the training stage where 3D LiDAR scans the city and then reduces the dimensions of 3D LiDAR data to …

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Nonlinear Finite Element Analysis Of The Seismic Retrofitting Of Existing Buildings, Shirin Abdulla, Mohammed Hamood, Mohammed Al Hamdani Jul 2026

Nonlinear Finite Element Analysis Of The Seismic Retrofitting Of Existing Buildings, Shirin Abdulla, Mohammed Hamood, Mohammed Al Hamdani

Engineering and Technology Journal

Finite Element Analysis (FEA) is a helpful tool for finding solutions to civil engineering problems. In this paper, the numerical analysis was performed by simulating an experimental test by using FEA tools, Abaqus /CAE2019 was used to develop and retrofit solutions to sustain existing structures for seismic hazard. The 3D building was modeled, and nonlinear analysis was adopted. This experimental building was tested at the Joint Research Centre (JRC) of the ELSA facility that is in Ispra-Italy. This model was a building of a full-scale four-story tested using the pseudo-dynamic (PsD) techniques.The retrofitting model was done by adding new RC …

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Indices-Based Evaluation Of Spatiotemporal Distribution Of Drought Within Derbendkhan Dam Watershed, Mahmoud Saleh Al-Khafaji, Rusul Al-Ameri Jul 2026

Indices-Based Evaluation Of Spatiotemporal Distribution Of Drought Within Derbendkhan Dam Watershed, Mahmoud Saleh Al-Khafaji, Rusul Al-Ameri

Engineering and Technology Journal

Drought is one of the most significant natural disasters in Iraq. It has a strong impact on the water resources in Iraq. Consequently, it causes massive environmental damage, economic deficiency, and social problems to the country. Therefore, more considerations towards the study and management of drought has become of vital importance in recent decades.In this paper, three drought indices (DIs) were computed for evaluation of the spatiotemporal of drought within Derbendikhan Dam Watershed (DDW) in the Diyala River Basin, Iraq. Based on the monthly weather data for the period (1984 – 2013) downloaded from the Climate Forecast System Reanalysis (CFSR) …

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Quadratic Support Vector Machine And K-Nearest Neighbor Based Robust Sensor Fault Detection And Isolation, Ahmed Abed, Sabah Gitaffa, Abbas Issa Jul 2026

Quadratic Support Vector Machine And K-Nearest Neighbor Based Robust Sensor Fault Detection And Isolation, Ahmed Abed, Sabah Gitaffa, Abbas Issa

Engineering and Technology Journal

Fault detection plays a serious role in high-cost and safety-critical processes. There are two main drivers for continuous improvement in the area of early detection of process faults safety and reliability of technical plants. Detect fault in Geophone string sensors (SG-10) are very important in oil exploration to avoid loss economy. Methods are developed to enable earlier detection of process faults than the traditional limit and trend checking based on a single process variable and the development of these methods is a key matter. Classification methods will be used for pattern recognition and as such is appropriate for fault detection. …

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Gasoil Hydro-Desulfurization Using Catalyst Synthesized From Iraqi Kaolin Clay: Optimization With Response Surface Methodology (Rsm), Khlood Alkhafaji, Zaidoon Shakor, Bashir Al-Zaidi, Sattar Hussein [email protected] Jul 2026

Gasoil Hydro-Desulfurization Using Catalyst Synthesized From Iraqi Kaolin Clay: Optimization With Response Surface Methodology (Rsm), Khlood Alkhafaji, Zaidoon Shakor, Bashir Al-Zaidi, Sattar Hussein [email protected]

Engineering and Technology Journal

This search aim to study the feasibility of hydro-desulfurization (HDS) of gas oil in fixed bed reactor by using economic support catalyst alumina meta kaolin (AMK) under various operating condition, i.e. Temp. (240−320 ◦C), Press. (3–12 bar), WHSV (2–6 h−1) at H2/HC ratio (50 vol./vol.). The support catalyst was prepared from Iraq kaolin and characterization by using scanning electron microscopy (SEM), energy dispersive X-ray analysis (EDAX) and Fourier transform infrared (FTIR) spectroscopy.  Experimental design was used to determine which parameter (e.g. temperature, pressure and WHSV) has a greater influence on the obtained HDS and the optimum condition of process. The …

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A Review On Path Planning Algorithms For Mobile Robots, Mustafa Abed, Omar Lutfy, Qusay Al-Doori Jul 2026

A Review On Path Planning Algorithms For Mobile Robots, Mustafa Abed, Omar Lutfy, Qusay Al-Doori

Engineering and Technology Journal

Mobile robots use is rising every day. Path planning algorithms are needed to make a traveler of robots with the least cost and without collisions. Many techniques have been developed in path planning for mobile robot worldwide, however, the most commonly used techniques are presented here for further study. This essay aims to review various path planning strategies for mobile robots using different optimization methods taken recent publisher’s paper in last five year.

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Modeling And Control Of Wheeled Mobile Robot With Four Mecanum Wheels, Sameh Hasana, Hasan Alwan Jul 2026

Modeling And Control Of Wheeled Mobile Robot With Four Mecanum Wheels, Sameh Hasana, Hasan Alwan

Engineering and Technology Journal

This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have been derived. Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC. Square trajectory has been selected to test the performance of the control system of FMWMR. MATLAB/ Simulink is used to simulate the results. It has been …

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