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Predictive Modeling Of Multilayer Graphene Growth By Chemical Vapour Deposition On Co-Ni/Al2o3 Substrate Using Artificial Neural Network, May Muslim, Zainab Yousif, Mohamed Abdel Ghany Aug 2026

Predictive Modeling Of Multilayer Graphene Growth By Chemical Vapour Deposition On Co-Ni/Al2o3 Substrate Using Artificial Neural Network, May Muslim, Zainab Yousif, Mohamed Abdel Ghany

Engineering and Technology Journal

The uniqueness of multilayer graphene as extremely high carrier mobility, tune-able band gap and high elasticity has made it be considered as a high prospect engineering material that can be employed for several applications such as solar cells, field effect transistors, super-capacitors, batteries and sensors. In this study, the application of Artificial Neural Networks (ANN) for the predictive modeling of multilayer graphene (MLG) growth by chemical vapor deposition (CVD) on Co-Ni/Al2O3 substrate was investigated. Data comprises temperature, catalyst compositions, ethanol flowrates were generated using central composite experimental design and employed to obtain the MLG yield as the response. The data …

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Biofilm Inhibitory Potential Of Westiellopsis Prolifica Extract Against Some Pathogenic Microorganisms, Neihaya Heikmat, Ghaidaa Abd Ali, Shurooq Al-Razaq, Nada Mahdi Mahdi Aug 2026

Biofilm Inhibitory Potential Of Westiellopsis Prolifica Extract Against Some Pathogenic Microorganisms, Neihaya Heikmat, Ghaidaa Abd Ali, Shurooq Al-Razaq, Nada Mahdi Mahdi

Engineering and Technology Journal

Resistance of microorganisms to many kinds of antibiotics push towards using natural products to eliminate the biofilm. In this study, 7 different species of algae were identified, 3 species of Chlorophyta and 3 of Cyanophyta. Westiellopsis prolifica is considered a potent organism. Fourier transform infrared spectroscopy (FTIR) was determined 13 clear bands, and the main bands were carbohydrate (1200- 900 cm−1), protein (1660 and around 1540 cm−1) and lipid bands (1740 cm−1). Extracellular crude acetone extract from W. prolifica better than hexane extract and more efficient on negative gram bacteria than positive gram bacteria. Antibiofilm was conducted by Congo red …

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Heavy Metals Content In Several Imported Rice Crops (Oryza Sativa) From The Local Markets, Basim Faraj, Sedik Al-Hiyaly, Athmar Almashhady Aug 2026

Heavy Metals Content In Several Imported Rice Crops (Oryza Sativa) From The Local Markets, Basim Faraj, Sedik Al-Hiyaly, Athmar Almashhady

Engineering and Technology Journal

Rice crop may be subjected to several heavy metals contamination due to various causes such as contaminated irrigating water, fertilizers containing certain heavy metals and other agricultural applications. This work was designed to examine several heavy metals (Lead, Chromium, Arsenic and Copper) in rice crop imported from India, USA, Brazil, Thailand, Paraguay and Uruguay in addition to locally cultivated rice. Rice samples were collected from local markets and subjected to the examination of above heavy metal content using acidic digestive method and heavy metal ions were determined by Atomic Absorption Spectrophotometer. It has been found that these examined rice crops …

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The Influence Of Recycled Crushing Strength Of Rc Beams Under Repeated Loading, Mohammed Al Hamdani, Marawan Hamid, Nada Al Hussiny Aug 2026

The Influence Of Recycled Crushing Strength Of Rc Beams Under Repeated Loading, Mohammed Al Hamdani, Marawan Hamid, Nada Al Hussiny

Engineering and Technology Journal

This paper describes a study of the effect of crashed (recycle) concrete on reinforced concrete beams. Three-dimensionally nonlinear finite elements analysis has been used conducted the numerical investigations of the general study of recycling-beam. ANSYS.11.0 computer-program using in this paper. Solid65 using as element of concrete, link8 for steel. The compression strength of the concrete mix decrease due to the strength of crashing concert. It’s weaker than gravel aggregate, that lower strength due to weak of old mortar cement around the aggregate and due to crashed process. The percentage of decrease of the compressive strength equal to (59.8) % and …

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Air Pollution Effects In Some Plant Leaves Morphological And Anatomical Characteristics Within Baghdad City. Iraq, Abdul Hameed Al-Obaidy, Israa Jasim, Abdul-Rahman Alkubaisi Aug 2026

Air Pollution Effects In Some Plant Leaves Morphological And Anatomical Characteristics Within Baghdad City. Iraq, Abdul Hameed Al-Obaidy, Israa Jasim, Abdul-Rahman Alkubaisi

Engineering and Technology Journal

The present study examined the air pollutants effects in seven plant species leaves, Olea europea L., Zizphus spina-christi L. Desf., Conocarpus lancifolius Engl., Albizia lebbeck L. Benth., Eucalyptus camaldulensis Dehnh., Clerodendron inermis L. Graeth and Dodonaea viscasa Jacq., distribute within Baghdad city. The leaves sample were collected from May (2016) to April (2017) in five regions within Baghdad city, which are Karrada, Sadr City, Shoula and Mansur, as well as Baghdad tourist island as a control region. The Sulfur dioxide (SO2), Nitrogen dioxide (NO2), Carbone monoxide (CO), Volatile organic compounds (VOCs) and Suspended particulate matter (PM) were measured in all …

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Effect Of Gamma Radiation On Callosobruchus Maculatus (F.) (Coleoptera: Bruchidae) And Seed Germination, Sahar Abd, Soolaf Kathier, Emad Mahmmod Aug 2026

Effect Of Gamma Radiation On Callosobruchus Maculatus (F.) (Coleoptera: Bruchidae) And Seed Germination, Sahar Abd, Soolaf Kathier, Emad Mahmmod

Engineering and Technology Journal

The grain legumes are the second most important economic crops attacked by many of storage pests, one of these pests is Cowpea seed beetle (Callosobruchus maculatus). Gamma radiation appears to be a potential alternative to chemicals control in stored products. Therefore, this research aims to study the effect of gamma radiation (0.03, 0.06, 0.09, 0.12, 0.15, 0.18 and 0.21 (kGy) on eggs, larvae, pupae and seed germination. The results of this study showed that the irradiated eggs did not hatch. While the last larval stage was very sensitive to all doses of gamma rays, no adults emerged from larvae were …

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Application Of Microwave Heating In The Demulsification Of Crude Oil Emulsions, Firdos Abdulla, Mohammed Ali, Jenan Al-Najar, Nedhal Shaker Shaker Aug 2026

Application Of Microwave Heating In The Demulsification Of Crude Oil Emulsions, Firdos Abdulla, Mohammed Ali, Jenan Al-Najar, Nedhal Shaker Shaker

Engineering and Technology Journal

In recent times the formation of pre-processing water-in-crude emulsions in petroleum industries has led to some inherent challenges such as the reduction in the efficiency of oil recovery, high cost of operation and corrosion in pipes. Traditional ways of pulverizing the emulsions using heat and chemical approaches have many disadvantageous from both economic and environmental points of view. Microwave irradiation is an efficient method for the demulsification of the water-in-oil (W/O) emulsion, encountered in refinery industries. The microwave technology is a costeffective way of emulsifying water-in-crude-oil emulsion. Two methods were used for conducting the demulsification performance test, i.e. chemical and …

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Dynamic Study Of Carbon Dioxide Absorption Using Promoted Absorbent In Bubble Column Reactor, Safa Al-Naimi, Farah Jasim, Ahmed Kokaz Aug 2026

Dynamic Study Of Carbon Dioxide Absorption Using Promoted Absorbent In Bubble Column Reactor, Safa Al-Naimi, Farah Jasim, Ahmed Kokaz

Engineering and Technology Journal

The most common process to remove carbon dioxide from natural gas and the flue gasses is absorption into suitable solvents. Absorption of carbon dioxide are studied experimentally in this work using bubble column reactor (glass cylindrical (QVF) of 7.5 cm i.d. × 140 cm height), where different types of absorbent (30%MEA, 30%K2CO3), promoter types (organic(piperazine)and inorganic(amino acids)) and concentrations were examined over a wide range of gas flow rate cover homogeneous to transition flow regime at ambient temperature and atmospheric pressure. The results showed that the dissolved gas undergoes a pseudo-first order reaction, and the optimum superficial velocity of gas …

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Simulation Of Mosul Dam Reservoir Operation For Irrigation And Hydropower Generation, Baraa Jebbo, Taymoor Awchi Aug 2026

Simulation Of Mosul Dam Reservoir Operation For Irrigation And Hydropower Generation, Baraa Jebbo, Taymoor Awchi

Engineering and Technology Journal

The current research aims to build a simulation model to study the effect of Jazeera irrigation projects (North, East and South) water requirements on hydroelectric power generation from Mosul dam hydropower plant. The simulation was applied from January 1988 to December 2006 on a monthly basis. A simulation model was built utilizing (HEC-ResSim 3.0) Package, which showed high efficiency in representing and simulating the actual operation of the reservoir. Simulation model operation has been carried out through five scenarios with two cases of priority; the first was to maximize the hydroelectric power generation, and the second was to minimize the …

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Restoring The Local Heritage And Its Role In Sustainable Spatial Development The Great Market In Al-Najaf – A Case Study, Wahda Al-Hinkawi, Baneen Al-Saadawi Aug 2026

Restoring The Local Heritage And Its Role In Sustainable Spatial Development The Great Market In Al-Najaf – A Case Study, Wahda Al-Hinkawi, Baneen Al-Saadawi

Engineering and Technology Journal

Regional and local changes in Iraq have led to an accelerated dynamic of comprehensive development without the preservation of local heritage, which caused the loss of many traditional buildings, changing their urban fabric, the emergence of contradictory architectural styles, and others without a clear and specific identity, causing visual deformation. The research problem was identified from the goals and principles of urban design that concerned with the conservation, restoration, and continuity of heritage context, activates their role in sustainable development programs and as a response to changes and radical shifts in spatial structures of city centers, and the social and …

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Air Quality Assessment Of Some Selected Hospitals Within Baghdad City, Azhar Haleem, Abdul Hameed Al-Obaidy, Salah Haleem Aug 2026

Air Quality Assessment Of Some Selected Hospitals Within Baghdad City, Azhar Haleem, Abdul Hameed Al-Obaidy, Salah Haleem

Engineering and Technology Journal

Hospitals are institutions designed to provide medical assistance to sick people have harm to their bodies, making them more likely to die than others, so indoor air quality (IAQ) of the various facilities of the hospital must be taken into account by providing an efficient Heating, ventilating and airconditioning (HVAC) systems with periodic maintenance and renewal for nonworking parts, and should appropriate with the health status of admissions, workers and visitors, the present study has been carried out to evaluate indoor air quality (IAQ) for three selected hospitals within Baghdad city. The study period included the summer and winter of …

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Mechanical Properties Of Cement Mortar Made With Black Tea Waste Ash As A Partial Replacement Of Cement, Mohammed Nasr, Zaid Hasan, Mohammed Abed Aug 2026

Mechanical Properties Of Cement Mortar Made With Black Tea Waste Ash As A Partial Replacement Of Cement, Mohammed Nasr, Zaid Hasan, Mohammed Abed

Engineering and Technology Journal

Environmental pollution and the relatively high cost of waste disposal has been a major focus for scientists around the world, leading researchers to find a solution to reuse waste materials in different applications. Iraqi people consume hundreds of tons of black tea each year, which produce a large quantity of the used tea, leaves as waste. These large quantities go to landfills without any benefit or recycling. Additionally, landfills are considered one of the biggest crisis facing the Iraqi government. Therefore, this study aims to recycle the black tea waste ash (BTWA) by utilizing it as a partial replacement of …

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Estimation Of Water Balance For The Central Basin Of Erbil Plain (North Of Iraq), Qusai Al-Kubaisi, Tariq Hussain, Muayad Ismail, Faaeza Abd-Ulkareem Abd-Ulkareem Aug 2026

Estimation Of Water Balance For The Central Basin Of Erbil Plain (North Of Iraq), Qusai Al-Kubaisi, Tariq Hussain, Muayad Ismail, Faaeza Abd-Ulkareem Abd-Ulkareem

Engineering and Technology Journal

Erbil city located, in the northern part of Iraq, within the central basin of Erbil plain which covers an area about 1400 Km2 where Erbil city area measures about 70 Km2, is located between latitudes (36ᵒ 08 30̋ - 36ᵒ 14 15̋) north and longitudes (43 ° 57 '30 "- 44 ° 03' 20") east, The rocks exposures at the central Erbil plain date back to the (Upper Miocene-Recent) and this includes Ingana, Muqdadiya, Bai Hassan formations as well as Quaternary deposits. Tectonically, the studied area is located within Chumchamal-Butma Subzone at the area of the foothills. The movement of …

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Thermodynamic And Kinetic Investigation Of Desalination By Refrigerant Clathrate Hydrate Formation, Shurooq Al-Hemeri, Riyadh Al-Mukhtar, Lina Mahmood Aug 2026

Thermodynamic And Kinetic Investigation Of Desalination By Refrigerant Clathrate Hydrate Formation, Shurooq Al-Hemeri, Riyadh Al-Mukhtar, Lina Mahmood

Engineering and Technology Journal

Gas hydrate is a crystalline solid compound form of water with hydrophobic gas at certain conditions (pressure and temperature). The hydrogen bond in water molecules constructs a framework as a host that entraps gas molecules (gust). Gas hydrate can be applied to many industries such as gas separation, cool storage, food concentration and desalination. Hydrate route looks a promising alternative technology compared to the conventional process, by utilizing a proper gas host, which can be held within water cavities composed by hydrogen-bonded water molecules. In this study the selected host gas was Refrigerant R134a, the work consists of an experimental …

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Reducing Total Petroleum Hydrocarbon From Soil Polluted With Iraqi Crude Oil By Phytoremediation Technology, Abdul Hameed Al-Obaidy, Riyad Al-Anbari, Sara Hassan Aug 2026

Reducing Total Petroleum Hydrocarbon From Soil Polluted With Iraqi Crude Oil By Phytoremediation Technology, Abdul Hameed Al-Obaidy, Riyad Al-Anbari, Sara Hassan

Engineering and Technology Journal

They used anew-green technology phytoremediation to reduce and remove pollutants from the soil. The purpose of the current research study was to survey the effect of soil pollution with a variety of doses of crude oil on the generation and growth of the plants. The study was made for 120 days from March to June in a control condition in the greenhouse and laboratory. Unpolluted soil near the Tigris River was taken and be polluted with varied doses of crude oil. They used alfalfa, Cotton and Grass in this research to reduce pollution. It made a comparison between the results …

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Criteria For Sustainable Planting Design Applications In Landscape Architecture Projects Under Arid Conditions, Abdullah Ghazal Aug 2026

Criteria For Sustainable Planting Design Applications In Landscape Architecture Projects Under Arid Conditions, Abdullah Ghazal

Engineering and Technology Journal

Planting design is an important part of all Landscape Architecture projects (LAps). It needs new criteria in order to make it more sustainable. When arid conditions are dominant, these criteria will be more difficult. These limiting factors of harsh environment and aridity, such as high temperature and evaporation, low rainfall, poor and sandy soil, are largely diverse in many levels concerning water, soil, and climate. Thus they clearly appear in designing and impeding sustainable LAps. The planting design in LAps is governed by three major factors which are: plant species, water availability, and the control soil property and climate conditions. …

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Shortage Sanitation Services In The Outskirts Of Baghdad And Its Environmental Impacts, Alaa Al-Obaidi, Sara Zangana, Saja Al-Sudany Aug 2026

Shortage Sanitation Services In The Outskirts Of Baghdad And Its Environmental Impacts, Alaa Al-Obaidi, Sara Zangana, Saja Al-Sudany

Engineering and Technology Journal

This study focuses on evaluation of the reality of wastewater services in the areas of outskirts of Baghdad which the responsibility of their implementation rests on the province of Baghdad and the ministry of construction and housing and general municipalities/ the General Directorate of Sewerage GDS, and to suggest the possibility to improve these services in light of the plans developed by the concerned authorities and the proportion of disability in the services suffered by those areas. The study concluded that the completion of the stopped project because of the financial crisis will raise the proportion of serves population to …

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Toxic Soil Contamination In Al Muthanna Storage Site Using Geospatial Analysis Technique, Hisham Al Sharaa, Abdul Razzak Ziboon, Abdul Hameed Al-Obaidy Aug 2026

Toxic Soil Contamination In Al Muthanna Storage Site Using Geospatial Analysis Technique, Hisham Al Sharaa, Abdul Razzak Ziboon, Abdul Hameed Al-Obaidy

Engineering and Technology Journal

The Iraqi past chemical program was destroyed by the military operations or destructed by the UNSCOM/CDG teams during the early 90s. Both operations lead to a large number of scattered remnants of contaminated areas. The quantities of hazardous materials, incomplete destructed materials and toxic chemicals were sealed in two well-protected bunkers. Lack of appropriate destruction technology, led to spread the contamination around the bunkers .since 2009 the Iraqi experts have been working to develop a practical plan for decommissioning the contaminated area. This paper introduces the hazard contamination in the storage site using geospatial analysis technique. The contamination level of …

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Properties Of Fuzzy Closed Linear Operator, Jehad Kider, Noor Kadhum Aug 2026

Properties Of Fuzzy Closed Linear Operator, Jehad Kider, Noor Kadhum

Engineering and Technology Journal

In this paper we recall the definition of fuzzy norm of a fuzzy bounded linear operator and the fuzzy convergence of sequence of fuzzy bounded linear operators in order to prove the uniform fuzzy bounded theorem and fuzzy open mapping theorem. The definition of fuzzy closed linear operators on fuzzy normed spaces is introduced in order to prove the fuzzy closed graph theorem.

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Morphological And Optical Properties Of Porous Silicon, Mohammed Mohammed, Ruqaya Shlaga Aug 2026

Morphological And Optical Properties Of Porous Silicon, Mohammed Mohammed, Ruqaya Shlaga

Engineering and Technology Journal

In this work photo-electrochemical etching was used to synthesize uniform and non-uniform macro porous silicon from n-type with orientation (100). Specimens were anodized in a sol of 25% HF: C2H2OH at 1:1 rate. Morphology and porosity of the samples were studied. Optical characteristics (reflection and photoluminescence) of PS samples by changing current density (10, 12, 14 and 16 mA/cm2 ) for fixed etching time (8min) and power density (17mW/cm2 ) by using red laser illumination wavelength (645nm) were investigated. Porous silicon samples imaged via scanning electron microscope (SEM), which showed the topography of silicon surface and pores distribution.

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Preparation And Study The Structure Of Pure And Impure Barium Titanate With Zr4+ Ion, Mojahid Najim, Wasan Hekmat Aug 2026

Preparation And Study The Structure Of Pure And Impure Barium Titanate With Zr4+ Ion, Mojahid Najim, Wasan Hekmat

Engineering and Technology Journal

In this research, pure and impure barium titanate with Zr4+ ion with two molar ratios x= (5, 10) % have been synthesized by solid-state reaction technique. The powders calculations at two temperatures (950°C and 1400°C). An XRD technique was used in order to study the crystal structure of pure and impure barium titanate, which confirmed the formation of the tetragonal phase of BaTiO3, then calculate the lattice parameters of pure and impure barium titanate, the addition of zirconium ion Zr4+ lead to increases lattice parameters.

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Synthesis, Characterization And Antibacterial Activities Of Uracil And Uracil–Oxalate Complexes With Cr(Iii) And Fe(Iii), Shatha Obaid Aug 2026

Synthesis, Characterization And Antibacterial Activities Of Uracil And Uracil–Oxalate Complexes With Cr(Iii) And Fe(Iii), Shatha Obaid

Engineering and Technology Journal

New complexes of the some trivalent transition metal ions of the uracil such as [M(Ura)3Cl3] and mixed ligand metal complexes with uracil and oxalic acid [M(Ura)2(OA)(OH2)Cl].H2O type, where (Ura)=Uracil, (OA= Oxalic acid dihydrate, (M= Cr+3 and Fe+3) were synthesized and characterized by the elemental analysis, FT.IR, electronic spectra, mass spectra and magnetic susceptibility as well as the conductivity measurements. Six–coordinated metal complexes were suggested for the isolated complexes of Cr+3 and Fe+3 with molecular formulas dependent on the nature of uracil and oxalic acid present. The proposed molecular structure for all complexes with their ions is octahedral geometries. The antibacterial …

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A Comparative Investigation On Mechanical Properties Of Various Fibers Reinforced Concrete, Ahmed Al-Ghaban, Hussein Jaber, Aya Shaher Aug 2026

A Comparative Investigation On Mechanical Properties Of Various Fibers Reinforced Concrete, Ahmed Al-Ghaban, Hussein Jaber, Aya Shaher

Engineering and Technology Journal

The present work presents an investigation the effect of adding various fiber materials such as (glass, nylon, and carbon) into the concrete mix for inspecting and compare the mechanical properties of different fibers reinforced concrete. Two different fiber length states of (short=3cm and long=10cm) are used in this work. The concrete of ordinary Portland cement of (1:1.5:3), (cement: sand: gravel), were mixed with each of the fiber materials at four different weight percentages (0, 0.4, 0.8, and 1.2) wt% per cement content. Compressive strength and flexural strength were experimentally investigated of different fibers reinforced concrete specimens after curing for 28 …

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Improvement Of Harris Algorithm Based On Gaussian Scale Space, Abdul Amir Karim, Rafal Sameer Aug 2026

Improvement Of Harris Algorithm Based On Gaussian Scale Space, Abdul Amir Karim, Rafal Sameer

Engineering and Technology Journal

Features is the description of the image contents which could be corner, blob or edge. Corners are one of the most important feature to describe image, therefore there are many algorithms to detect corners such as Harris, FAST, SUSAN, etc. Harris is a method for corner detection and it is an efficient and accurate feature detection method. Harris corner detection is rotation invariant but it isn’t scale invariant. This paper presents an efficient harris corner detector invariant to scale, this improvement done by using gaussian function with different scales. The experimental results illustrate that it is very useful to use …

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Automatic Tool Path Generation For Parametric Surfaces, Tahseen Abbas, Sara Shawi Aug 2026

Automatic Tool Path Generation For Parametric Surfaces, Tahseen Abbas, Sara Shawi

Engineering and Technology Journal

A tool path generation algorithm has been proposed and implemented in the presented work. The aim of the development of tool path algorithm is to machine parametric surface with a given tolerance and scallop height. The algorithm proposes dividing the desired parametric surface to several linear segments depending on the desired accuracy of the parametric surface. The Bspline technique has been used to generate the required data of the parametric surface. After generating the tool path, the cutter movement has been simulated allowing to reduce the cutting time and cost. The tool path is verified on the C-TEK CNC milling …

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Investigation Of Optimum Helix Angle Of A Wire Rope Subjected To Harmonic Dynamic Loading, Hatem Obeid, Riham Nima Aug 2026

Investigation Of Optimum Helix Angle Of A Wire Rope Subjected To Harmonic Dynamic Loading, Hatem Obeid, Riham Nima

Engineering and Technology Journal

The current work includes the dynamic structural analysis of wire rope with different helix angle. The main objectives are; estimating the stress and deflection for each helix angle, comparing the results to get the best helix angle suitable for practical applications. This paper falls into two parts: The first part includes modal analysis for the models of wire rope using finite element method with certain boundary conditions that are suitable to obtain the first five frequencies for each helix angle and the second part focuses on harmonic analysis of wire rope to estimate stress and deflection and compares maximum results …

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Production Of Lightweight Concrete By Using Construction Lightweight Wastes, Huda Abed Aug 2026

Production Of Lightweight Concrete By Using Construction Lightweight Wastes, Huda Abed

Engineering and Technology Journal

This research covers the use of cellular lightweight concrete waste as recycled coarse aggregates to produce lightweight concrete. Various volume fractions of coarse aggregate (35%, 50%, and 75%) were used. The specimens were tested for compressive strength and density at age of 28-days. The compressive strengths for the resulting lightweight concrete with a density of (2131, 1826 and 1630) kg/m3 were (24, 22.6 and 11.5) MPa, respectively. In addition, silica fume was utilized as a constant replacement ratio 6% of cement weight for mixes lightweight aggregate to enhance the compressive strength of such concrete.

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Proposed Collision Avoidance System In Driverless Cars, Hiba Tarish, Alaa Rahima, Tanya Jaber Aug 2026

Proposed Collision Avoidance System In Driverless Cars, Hiba Tarish, Alaa Rahima, Tanya Jaber

Engineering and Technology Journal

Avoiding collisions is an important matter in the majority of transport systems and in many other applications in driverless cars it is very important to have an active collision avoidance system since only the car to take an action and no driver to help. The goals of collision avoidance systems are tracking objects of possible collision risks and decide any action to avoid or mitigate a collision with the help of sensors and radars. Car accidents have become quite common nowadays. After investigations, conclusions have stated that a great deal of those accidents happened because drivers fail to stop the …

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A Simplified Recurrent Neural Network Trained By Gbest-Guided Gravitational Search Algorithm To Control Nonlinear Systems, Omar Lutfy, Ahmed Jassim Aug 2026

A Simplified Recurrent Neural Network Trained By Gbest-Guided Gravitational Search Algorithm To Control Nonlinear Systems, Omar Lutfy, Ahmed Jassim

Engineering and Technology Journal

This paper presents a feedback control strategy using a Simplified Recurrent Neural Network (SRNN) for nonlinear dynamical systems. As an enhancement for a previously reported modified recurrent network (MRN), the proposed SRNN structure is used as an intelligent Proportional-Integral-Derivative (PID)-like controller. More precisely, the enhancement in the SRNN structure was realized by employing unity weight values between the context and the hidden layers in the original MRN structure. The newly developed Gbest-guided Gravitational Search Algorithm (GGSA) was adopted for optimizing the parameters of the SRNN structure. To show the efficiency of the proposed PID-like SRNN controller, three different nonlinear systems …

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Formation Control Of Mobile Robots Using Sliding Mode Control Based On Conditional Servocompensator, Laith Majeed Aug 2026

Formation Control Of Mobile Robots Using Sliding Mode Control Based On Conditional Servocompensator, Laith Majeed

Engineering and Technology Journal

In this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics. A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers. This objective is fulfilled using the approach of sliding mode controller based on conditional servocompensator, which will bring the system error trajectories into a positively invariant set (boundary layer) close to the origin. Then, a special form of servocompensator conditional integrator, which will be active only inside the boundary layer, will regulate the trajectories to the origin in finite time. Compared …

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