IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING

In this paper, design of printed monopole antenna based on fractal
structures, is introduced as an approach for the use in ultra wideband communication
systems, that depends on Koch fractal type.
This antenna fed with a 50Ω microstrip line, designed to be used in frequency range
from 3.1 GHz to 10.6 GHz, also band notched characteristics to reject the WiMAX band
is realized by etching a slot of a C-shaped rotated with 90o clockwise. It is printed on
FR4 substrate of (4.4) dielectric constant, (1.6) mm thickness, and the fractal geometry
is employed in the form of a second iteration Koch curve.
The antenna has a small dimensions of (20mm × 25mm × 1.6mm), with return loss ≤ -
10 dB, which offers a bandwidth from 2.84 GHz to 13.28 GHz with nearly Omni
directional radiation pattern. The simulation of the design is accomplished through the
microwave studio suite of computer simulation technology CST simulator, which is
based on finite integration technique.

This paper presents a fuzzy based adaptive controller for a three-axis SCARA
robot (Selective Compliance Articulated Robot Arm) in the presence of non- linearities,
uncertainties and external perturbations. The nonlinear system is treated as a partially known
system. The known dynamic is used to design a nominal feedback controller based on the
well-known feedback linearization method and Proportional Derivative (PD) controller. A
fuzzy Proportional Integral (fuzzy-PI) based adaptive tracking controller is applied to further
improves the control action. Compensation for the effects of the system uncertainties have
been achieved and noticeable improvement of the tracking performance has been obtained.
The improvements are based on simplified controller design and improved performance
characteristics in terms of highly reduced maximum absolute error.

The advancement in science and engineering led to the development of
relays, started by electromechanical, and followed by solid-state, and lately digital and
numerical relays. Numerical relays are the result of the application of microprocessor
technology in the relay industry. This paper describes an approach for detailed modeling
of a numerical distance relay using MATLAB/SIMULINK. The distance relaying is for
use in a modeled EHV transmission system. A section of 400 kV, 350 km length
transmission lines is chosen for the case study. The numerical relay is modeled having
Mho characteristics suitable for three-zone distance relaying. A set of tests were
performed to investigate the applicability and consistency of the developed relay model.
The results showed that the numerical relay model respond satisfactorily to fault
incidents and in accordance with the expected results of the performed tests.

This paper presents a proposed technique to compress images using
weighted 3D polynomials fitting technique that fits all pixels as possible in the image.
This technique uses high-order weighted 3D polynomials to obtain high quality
compressed images especially in the medical images. These types of images seek for
high details with an acceptable compression ratio. This procedure of weighted 3D
polynomials fitting ensures to preserve the quality of image during the decompression
and zooming-in process. After applying scalar quantization and Huffman encoding to
the weighted polynomials coefficients for each block of image; mean square error
(MSE), peak signal to noise ratio (PSNR), processing time, and compression ratio (CR)
are evaluated for different degree of weighted polynomials and for different medical
image block sizes. Computer results showed that the proposed technique gives an
acceptable image quality under zooming-in process compared with standard surface
fitting that uses non-weighted polynomials but at the expanse of compression ratio.

The increase of population produces an increase of the number of
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Keywords: – Microcontroller, ultrasonic sensor, and driver circuit.
automobiles on the road, which generates heavy traffic in the streets and that causes
many problems for the Citizens and traffic policemen an additional two emergency
cases therefore it’s important with development technology of embedded systems to
solve this problem. In this paper new traffic light controller was built to optimization
using the Arduino UNO microcontroller board. The system tries to reduce traffic jams,
caused by traffic lights, as possible. The system is based on microcontroller, which
represent the brain of the system. The system contains ultrasonic sensors on the side of
the roads. Also the system contains switches to control the traffic light manually. The
ultrasonic sensor system gets activated when vehicles go along the road against it.
Microcontroller controls the traffic light by driver circuit using the sensor network to
determine the level of jam in the road. Different ranges of traffic light delay time
intervals according to jam level are configured by microcontroller and updated
regularly. In this paper the effects of temperature and humidity on the system were
studied. The jam level displayer tool is another feature added to a system controlled by
the microcontroller which is a traffic sign informs the drivers about the level of jam
before reaching the road

he problems related to oil transportation are considered of the largest
burdens that hinder the petroleum industry. Since the transportation of oil is mostly
done using oil carrying vehicles or cargos, a system for monitoring those vehicles and
tracking their position is needed. In this work a GPS based tracking and monitoring
system will be presented. Moreover, the system will be able to store data about different
parameters in regard to the cargo, and it will send that data using GSM networks by
GPRS technology. In addition to that, this system is designed to be ambient intelligent
by the means of interacting with different individuals with mobile phone around it. The
system will be supported with a location based security technique to provide its overall
operation with more security and reliability.
This system has been simulated using Omnet++ network simulation software to be
sure about its efficiency and scalability, which are affected by latency and back-off
times.

In this paper the design of type-2 fuzzy logic based PD controller for an
active magnetic bearing system (AMB) is presented. Such a system is known to be
inherently unstable. The logic techniques of the proposed method continuously observes
the error signal and it's change in order to modify the parameters of a PD controller. An
improved tracking performance has been achieved. Robustness against disturbance
effects with various rotation speeds has also been noticed. Comparison with a regular
fuzzy like PD controller shows a noticeable improvement in the tracking performance of
the system, especially in the presence of disturbances. In order to ensure the stability of
the system, a pole placement controller is designed first before applying the type-2
fuzzy logic PD controller.

This paper presents an improved micro artificial immune (IMAI)
algorithm utilizing basic concepts from swarm intelligence. In particular, to enhance the
searching capability of the recently developed micro artificial immune system (Micro-
AIS) algorithm, employed honey bees are recruited to provide high-quality antibodies
for the working population of the IMAI algorithm. The proposed algorithm is used to
find the optimal kernel values for the Volterra series model to identify nonlinear
systems. To demonstrate the efficiency of the proposed method, three different types of
nonlinear systems are considered, including a highly nonlinear rational system, a heat
exchanger, and a continuous stirred tank reactor (CSTR). For all these systems, the
IMAI algorithm has achieved accurate modelling results and fast convergence rates.
Moreover, a comparative study was conducted with other optimization methods, namely
the original Micro-AIS algorithm, the improved particle swarm optimization (IPSO), the
real-coded genetic algorithm (GA), the least mean squares (LMS), the least mean p-
norm (LMP), and the least mean absolute deviation (LMAD). From this comparative
study, the proposed IMAI algorithm has achieved the best modelling performance
compared to the other methods.

Permanent Magnet Stepper Motor (PMSM) is defined as a high
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Keywords – Stepper Motor, Feedback Linearization, Fuzzy PID Controller
nonlinear dynamics, MIMO electromechanical incremental actuator broadly applied as a
position device. The closed loop control system is proposed to enhance the performance
of PMSM from the load change, steady state error, and the parameters variation that
appear in the open loop control. The proposed closed loop system is based on the Field
Oriented Control (FOC). Fuzzy PID controller is proposed as an intelligent controller
for the exact linearized system. The Feedback Linearization (FBL) technique is based
on transforming the complex nonlinear model of PMSM into exact linearized model,
unlike the Jacobian Linearization, which is based on linearizing the dynamics of the
motor around operating point. The results of the proposed controller were compared
with conventional PID on the exact linearized model and Fuzzy PID Controller on the
nonlinear model of the PMSM. Robustness of the proposed controller was tested under
parameters and load variation

This paper, presents the design and implementation of Frequency
Modulation Continuous Wave (FMCW) radar system working at 77GHz for Adaptive
Cruise Control (ACC) technology which is a flexible system to estimate the speed and
distance in accordance to vehicle ahead, which reduces the forces on the rate of accidents
by warning the driver when two vehicles become too close. In addition, the principle of
FMCW radar is presented to generate Linear Frequency Modulated Continuous Wave
(LFMCW) sweep waveform through frequency bands with triangular frequency modulation
using Voltage Control Oscillator (VCO), a triangle sweep pattern adopt will resolve
ambiguity without Doppler processing. This improves the decision making before hardware
implementation. The simulation design is achieving the desired performance, one parameter
warrants further attention. In the FMCW configuration, the sweep time is about 25
microseconds. Therefore, the system needs to sweep a 140 MHz band within a very short
period. Such an automotive radar may able to meet the cost requirement.

his paper aims to enhance the recognition rate in some Gabor face
recognition techniques; the enhancement is done using two filtering stages. the first
stage consists of applying adapted wavelet de-noising filter on the face database, this
adaptive filter is composed of two filters (Bior 1.1 and Daubachies6) which are
implemented successively both are at level 10 of decomposition. The second stage
consists of computing and extracting the Gabor magnitude features using Gabor filter
with 5 scaling and 8 orientations. All face images are loaded from the ORL database. As
a result the Adaptive filtering technique produced good enhancement when applied on
face recognition techniques, since two groups are used and are compared with our work.
Each group includes four face recognition techniques: the first technique is Principal
Component Analysis (PCA), the second technique is the Linear Discriminate Analysis
(LDA), the third technique is the Kernel Principal Component Analysis (KPCA) and the
fourth technique is the Kernel Fisher Analysis (KFA). The first group is applied with
non-filtered techniques and the second group is filtered with Gabor filter, both groups
are compared with the same group of techniques when de-noised with the adaptive
double filter.