Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : non

Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller

Ghusn A. Ibraheem; Ibraheem K. Ibraheem

Engineering and Technology Journal, 2016, Volume 34, Issue 13, Pages 2406-2419

This paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR). A modified particle swarm optimization (MPSO) has been proposed in this work to tune the parameters of the nonlinear FOPID controller to design the controller so that the 2-WMR follows exactly a predefined continuous track. The kinematic model of a differential drive 2-WMR has been derived to simulate the behavior of the 2-WMR and it is used in the design and simulations of the proposed FOPID controller. From simulation and results, it can be seen that the efficiency of the proposed nonlinear FOPID controller outperforms the nonlinear integer order PID controller; this is proved by the minimized tracking error and the speed control signals obtained.

A Cumulative Damage Model for Fatigue Life Prediction Based on Dynamic and Static Deflections

AlalKawi H.J.M; Nazhat S. Abdul; Razaq; Hasan H. Juhi

Engineering and Technology Journal, 2015, Volume 33, Issue 4, Pages 762-775

The main goal of this study is to report experimental evidence about the accumulative fatigue damage behavior of CK35 steel alloy at room temperature and zero main stress (R = -1) . A non-linear accumulative damage model based on static and dynamic deflection is proposed, considering the loading sequence into account and the constant S-Ncurve. Satisfactory predictions of cumulative fatigue life have been observed when applying the proposed model to the two block loading sequence. Comparison between LDR and proposed model has been made. It was found that LDR can underestimate the fatigue damage and the proposed model showed good agreement with the experimental results. A non-linear damage model seems to be a proper choice for predicting the cumulative fatigue two block loading histories.

A New Approach on Decision Making for Multi- Objectives Problems

Allaiden N. Ahmed; Haithem Saleem; Saad Mohsin Salman

Engineering and Technology Journal, 2012, Volume 30, Issue 7, Pages 1149-1153

In many real life problems, one is usually confronted with several objectives, which are in mutual conflict. In this paper, multi-objective decision making is obtained, based on a mathematical model by interpolating multi-objective functions with weights functions coefficients, instead of constant coefficients. Some theories and computational results are presented to point out the efficiency of our model and the implemented approach.

The Effect of Solid on the Homogenous- Heterogeneous Transition Region in Baffled and Unbaffled Bubble Column with Non-Newtonian Liquid

Asawer A. Alwasiti; Farah T. Alsudany; Shrooq T. Alhemeri

Engineering and Technology Journal, 2010, Volume 28, Issue 23, Pages 6732-6749

This research shows a comprehensive study on the effect of solid loading
and non-Newtonian liquid on the hydrodynamic parameter of gas holdup as well
as the critical values of gas holdup and gas velocity of transition zone from
homogenous to heterogeneous region in both baffled and unbaffled babble
The experiments were carried out using column of 15cm inside diameter and 2m
height with aspect ratio (L/D=4.5) using perforated plate gas sparger 54 holes with
size equal to 1mm diameter and with free area of holes to cross sectional area of
column 0.24.
The three phase system consists of air-non Newtonian liquid of polyacrilamined
(PAA) –solid of alumina particles. The measured values of gas holdup and
transition points of gas holdup and gas velocity were compared with different
values of PAA concentration (0, 0.01, 0.05 and 0.1)wt% and four values of solid
loading (0, 3, 5 and 11)wt% in baffled and unbaffled column.
The results show that the transition values of gas holdup and gas velocity
decreased with increasing of PAA concentration under constant values of
Newtonian liquid while they dis approved with non-Newtonian liquid.
The solid loading shows an unstable influence of decreasing and increasing of the
critical values in all PAA concentration and in both baffled and unbaffled column.
First, these values decreased when solid loading in the range (0-3)wt% then they
increased with increasing of solid loading from 3wt% to 11wt%.

Temperature Profile Measurement in Non-Premixed Turbulent Flame Near Lean Limit of LPG/Air Mixture

Hayder Abed Dhahad

Engineering and Technology Journal, 2010, Volume 28, Issue 8, Pages 1535-1544

The current research was carried out on the topic of non-Premixed turbulent
The temperature profile of non- premixed turbulent flame of lean LPG/Air
mixture were obtained.
A simple jet burner with two different inside diameter and having two different
perforated plates was designed in order to achieve turbulent flow .
The temperature was obtained at the two diameters and different positions for
perforated plates. The temperature profiles were obtained by using a fine
thermocouple ( 0.2mm diameter ) at height ( 3mm ) above the burner mouth. The
maximum temperature for all cases was found at flame edge, and start decreasing
for both sides .

A New Text Steganography Method By Using Non-Printing Unicode Characters

Akbas E. Ali

Engineering and Technology Journal, 2010, Volume 28, Issue 1, Pages 72-83

One of the methods used in security areas is steganography. Steganography is the art
and science of hiding information by embedding messages within cover media without
attracting attention. the cover media can be text, image, video or audio files. Text
steganography is more difficult than others due to the difficulty in finding redundant
information in text file. This paper presents a new idea for text steganography by using
Unicode standard characters, (which have the non-printing properties) to encode the
letters of English language and embedding the secret message letter by letter into the
This method has high hiding capacity, it can hide (K+1) letters in a text with K
characters and it does not make any apparent changes in the original text. So it satisfies
perceptual transparency.

Effect of Dual Reinforcement on Wear Resistance by Aluminum Compacts Reinforce by SiC, Al2O3

Mohammed Moanes Ezzaldean Ali; Hanan A. R. Akkar; A. K. M. AL-Shaikhli; Ali K. Shayyish; Muhsin J. Jweeg; Wisam Auday Hussain; Mohammed T. Hussein; Mohammad A. Al-Neami; Farah S. Al-Jabary; Jafar M. Hassan; Ali H. Tarrad; Mohammed N. Abdullah; Ahmed T. Mahdi; Eyad K. Sayhood; Husain M. Husain; Nidaa F. Hassan; Rehab F. Hassan; Akbas E. Ali; Assim H Yousif; Kassim K Abbas; Aqeel M Jary; Shakir A. Salih; Ali T. Jasim; Ammar A. Ali; Hosham Salim; JafarM. Daif; Ali H. Al Aboodi; Ammar S. Dawood; Sarmad A. Abbas; Salah Mahdi Saleh; Roshen T. Ahmed; Aseel B. Al-Zubaidi; Mohammed Y. Hassan; Majid A. Oleiwi; Shaimaa Mahmood Mahdy; Husain M. Husain; Mohammed J. Hamood; Shaima; a Tariq Sakin

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 423-429

The producing composite materials of dual reinforcement in which the matrix material is aluminum reinforced with two types of ceramic particles : which are Alumina (50μm


composite materials; wear test ; Al2O3; SiC: Al

Effect of Non-Symmetric Die on Extrusion Process And Product Bending

Engineering and Technology Journal, 2009, Volume 27, Issue 13, Pages 430-450

The development in production of curved sections in one forming process
using direct extrusion process is going to increase annually because of increasing demands on such sections that are used in car body construction and railways .This research aims to find a new method for design of non-symmetric dies ,that can extrude a curved product by one pass of extrusion and by controlling the material flow through the deformation zone of the die .The (F.E.M) and (U.B.M) were used in
designing the non-symmetric dies so that the lower and upper die angles are different. The simulation of metal flow during the extrusion process, stresses and strains distribution in the bullet, friction factor and the die angles on the bending or eccentricity of the product were found. The extrusion pressure and the power consumption during the process were also found using both (FEM) and (UBM) methods. The results have shown that :
The bend of the product using non-symmetric dies is always towards the small die angle. It has been also shown that the amount of bent or the eccentricity of the product can be predicted from the extrusion parameters. The amount of eccentricity increased with increases of the metal displacement in the dies.