Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Fuzzy logic

Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels

Sameh F. Hasana; Hasan M. Alwan

Engineering and Technology Journal, 2021, Volume 39, Issue 5A, Pages 779-789
DOI: 10.30684/etj.v39i5A.1926

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 concluded from the results that obtained from this control system there is a good matching between the simulated and the desired trajectories.

Backstepping Control Strategy for Overhead Crane System

Mohammed Y. Khudhair; Mohammed Y. Hassan; Saleem K. Kadhim

Engineering and Technology Journal, 2021, Volume 39, Issue 3A, Pages 370-381
DOI: 10.30684/etj.v39i3A.1738

Swinging on the shifted load by overhead crane is one of the main problems that all researchers suffer from. In addition, the crane system is a nonlinear and under-actuated system. Furthermore it is multivariable problem and it has coupling between its parameters (x, . In this work, a developed type of anti-sway Backstepping controller is proposed to solve swinging on the shifted load for full non-linear overhead crane system. Simulation results were validated against the related articles previously published which used Fuzzy Logic control. The enhancement is measured for Backstepping control as a swinging to achieve 50.7%, 38.1% and 42.5% when it is compared with Fuzzy Logic control. The performance of the overhead crane is enhanced from 70.4% to 51% at the control action consumptions.

Multi-Objective Optimization of Friction Stir Welding for Aluminum Alloy (2024-T3)

Abbas K. Hussein; Laith K. Abbas; Ahmed A. Seger

Engineering and Technology Journal, 2020, Volume 38, Issue 2, Pages 185-198
DOI: 10.30684/etj.v38i2A.280

In this research, a multi-response optimization based on Taguchi method is proposed for friction stir welding (FSW) process for (2024-T3) aluminum alloy. Three different shoulder diameters of tools with tapered pin geometry of (12, 14 and 14 mm) with variable rotation speed (710, 1000 and 1400 rpm) and welding speed of (40, 56 and 80 mm/min), three different tilting angles of (1, 2 and 3 degree) and three welding direction of (1, 2 and 3 passes). The results of this work showed the single optimization by using (Taguchi method) at the optimum condition for the tensile strength and yield strength were (365 MPa) and (258 MPa) respectively; at the parameters: shoulder diameter (14 mm), rotation speed (1400 rpm), linear speed (40 mm/min), tilting angle ((3°) for tensile strength and (1°) for yield strength) and welding direction (3 passes). The results of multi-response optimization for (FSW) process at the optimum condition for tensile strength and yield strength were (371 MPa) and (268 MPa), respectively; at the parameters: shoulder diameter (14 mm), rotation speed (1400 rpm), linear speed (40 mm/min), tilting angle (3°) and welding direction (3 passes).

A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator

Arkan A. Jassim; Abbas H. Issa; Qusay A. Jawad

Engineering and Technology Journal, 2019, Volume 37, Issue 8A, Pages 326-331
DOI: 10.30684/etj.37.8A.3

In this paper, the detecting and isolating fault that occurs in (actuator
and sensor) in robot manipulator, which is used as a mathematical model were proposed for fault detection, where the neural network was used to detect the fault. The neural network was trained on the data set obtained from the Input/output on the (DC motor).The output of the sensor or actuator was compared with the output of the model (neural network) after that the residual signal is used to detect the fault. The fuzzy logic circuit was used for fault isolation that is depending on the residual signal from any sensor or actuator that faults. There are three types of faults detected and isolated in this study abrupt fault, incipient fault and intermittent fault. The Matlab R2012a was used to the model steady state designed and simulated .The model has a high capacity for detecting faults.

Selecting the Potential Water Harvesting Sites Using Fuzzy GIS-Based Spatial Multi-Criteria Evaluation in Salah Al-Din Governorate, Iraq

Imzahim Abdulkareem; Hussein H. Karim; Nadia A. Aziz

Engineering and Technology Journal, 2019, Volume 37, Issue 2C, Pages 219-226
DOI: 10.30684/etj.37.2C.4

Remote sensing and GIS-based techniques were used to select the potential sites for water harvesting in Salah Al-Din Governorate, northern Baghdad/ Iraq. Spatial Multi-Criteria Evaluation (MCE) was used where seven criteria layers have been evaluated to identify water-harvesting sites, such as slope, stream order, precipitation, potential evaporation rate, soil type, distance to roads and the Normalized Difference Vegetation Index (NDVI). This method helps in locating water-harvesting sites in suitable places as well as improves the management of water resources in the study area. Fuzzy logic modeling was used to standardize the criteria layers, and the Fuzzy Gamma overlay was used to combine these layers together in ArcGIS 10.5. Specific criteria were used to unify all these layers. Finally, the final suitability map for the potential water harvesting sites in Salah Al-Din area was produced were twelve potential waterharvesting sites within the study area have been identified according to the specific criteria used for this purpose and have a high potential for water harvesting. This map will provide optimum sites to build dams in order to store the water, especially in drought-stricken areas. The results illustrate that the GIS can be used as a decision-making tool in water resources management in a scientific approach, which makes the decision making easier and accurate.

Speed Reference Tracking for Separately Excited DC Motor Based ANFIS and Hysteresis Current Control Techniques

Omar T. Mahmood

Engineering and Technology Journal, 2018, Volume 36, Issue 6A, Pages 680-690
DOI: 10.30684/etj.36.6A.13

In this work, a closed loop control system has designed to control the speed of separately excited direct current motor (SEDCM) using Fuzzy (Mamdani and Sugeno) and an Adaptive Neuro - Fuzzy techniques (ANFIS). The action of these control techniques is to produce the reference armature current that has fed to the hysterics current controller (HCC) that produces the required gating signal to a Buck chopper .Different load conditions has been applied to the motor to obtain many mode of operation, the speed held constant at the required references values using both fuzzy (Mamdani-type and Sugeno-type) and ANFIS techniques. The results has collected and compered with a classical PID controller using MATLAB/Simulink. Step response for the speed has drawn and the control parameters for this response have evaluated. According to the results, the Mamdani fuzzy controller technique is better than as compared with the other controllers. There are many applications for this plant such as production process that need to fill or Packaging any product or used in the autopilot channels. The new goal for this proposed system is to get robust speed controllers that track the speed at any mode of operation using three artificial intelligent techniques.

Logical Twofold Integral

Jabbar Abbas Ghafil

Engineering and Technology Journal, 2010, Volume 28, Issue 3, Pages 477-483

The aim of this paper is to present a new framework for studying capacities and
twofold integral from a point of view of two-valued logic. In this framework, we
propose equivalent definitions of capacities and twofold integral that may be more
easily interpretable. First, we define a logical capacity, then, we propose definition of
logical twofold integral with respect to logical capacities based on the two-valued

A Proposed Algorithm for Reactive Power & Voltage Coordination in Distribution Systems Using Fuzzy Technique

Aws Habib Mohammed; Afaneen Anwar Al-Khazragy

Engineering and Technology Journal, 2009, Volume 27, Issue 12, Pages 2447-2464

This method finds the Under Load Tap Changer (ULTC) position and
capacitor ON/OFF status of each hour for the next day in main or secondary
distribution substations, so the secondary bus voltage improves and the reactive
power flow into the transformer can be restrained at the same time. The only
condition to achieve these goals is the previous knowledge (by forecasting) of
load demand for active and reactive power and the primary bus voltage for each
hour of that day. The practical constraints are involved through the use of
membership concept in fuzzy set theory, where these constraints are bus voltage
limits, the tolerable worst power factor & the maximum allowable number of
switching operations for the Load Tap Changer (LTC) and capacitor in a day. This
method is also considering the variation of load active & reactive power with its
voltage, where the loads are classified into three categories according to their
relationship with voltage, and so there are constant impedance loads, constant
current loads and constant power loads. To demonstrate the usefulness of this
method an example on one of the Iraqi national grid substations (132/33KV
Yarmook substation) was made in MATLAB.