Iraqi Journal for Electrical And Electronic Engineering

The last few years Quadrotor became an important topic, many researches have implemented and tested concerning that topic. Quadrotor also called an unmanned Aerial Vehicle (UAV), it's highly used in many applications like security, civil applications, aid, rescue and a lot of other applications. It’s not a conventional helicopter because of small size, low cost and the ability of vertical and takeoff landing (VTOL). The models kept an eye on quadrotors were presented, the advancement of this new kind of air vehicle is hindered for a very long while because of different reasons, for example, mechanical multifaceted nature, enormous size and weight, and challenges in charge particularly. Just as of late a lot of interests and endeavors have been pulled in on it; a quadrotor has even become a progressively discretionary vehicle for useful application. Quadrotor can be used in variable, different , outdoor and indoor missions; these missions should be implemented with high value of accuracy and quality. In this work two scenarios suggested for different two missions. First mission the quadrotor will be used to reach different goals in the simulated city for different places during one flight using path following algorithm. The second mission will be an indoor arrival mission, during that mission quadrotor will avoid obstacles by using only Pure pursuit algorithm (PPA). To show the benefit of using the new strategy it will compare with a victor field histogram algorithm (VFH) which is used widely in robotics for avoiding obstacles, the comparison will be in terms of reaching time and distance of reaching the goal. The Gazebo Simulator (GS) is used to visualize the movement of the quadrotor. The gazebo has another preferred position it helps to show the motion development of the quadrotor without managing the mathematical model of the quadrotor. The Robotic Operating System (ROS) is used to transfer the data between the MATLAB Simulink program and the Gazebo Simulator. The diversion results show that, the proposed mission techniques win to drive the quarter on the perfect route similarly at the limit with regards to the quadrotor to go without hitting any obstacle in the perfect way.

This paper presents a new design to obtain wide dual-band operation from a coplanar probe feed antenna loaded with two shorted walls. The lower band of proposed antenna has a 10 dB bandwidth of 611 MHz (24.18%) around the center frequency 2527MHz, and the upper band has a bandwidth of 1255 MHz (27.88%) around the center frequency 4501MHz. The obtained bandwidths cover WLANs operations on all bands. The bandwidth of the first operating frequency covers ISM band (2400-2483.5) MHz, which is required by IEEE 802.11b, g and Bluetooth standards, and the bandwidth of the second operating frequency covers U-NII1 (5150-5350) MHz band, which is required by IEEE 802.11a and HiperLAN2 standards, and also covers U-NII2 (5470-5725) MHz and U-NII3/ISM (5725-5825) MHz bands, which are required by IEEE 802.11a standard. A three dimensional finite-difference time-domain (3-D FDTD) method is employed to analyze the proposed structure and find its performance. The simulated results are compared with the experimental results.

In this paper, we focus on ensuring encrypted vehicular communication using wireless controller area network performance at high node densities, by means of Dedicated Short-Range Communication (DSRC) algorithms. We analyses the effect of the vehicular communication parameters, message-rate, data-rate, transmission power and carrier sensing threshold, on the application performance. After a state-of-the-art analysis, we propose a data-rate DSRC algorithm. Simulation studies show that DSRC performs better than other decentralized vehicular communication algorithms for a wide range of application requirements and densities. Vehicular communication plays one of the most important roles for future autonomous vehicle. We have systematically investigated the impact of vehicular communication using the MATLAB© application platform and achieved an accuracy of 93.74% after encrypting all the communications between the vehicles and securing them by applying the encryption on V2V communication in comparison with the existing system of Sensor Networks which stands at 92.97%. The transmission time for the encryption is 165 seconds while the rate of encryption is as low as 120 Mbps for the proposed awareness range of vehicles to vehicle using DSRC algorithm in Wireless-Controller Area Network for communication. Experimental results show that our proposed method performs 3% better than the recently developed algorithms.

This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain.

In this work, a healthcare monitoring system-based Internet of Medical Things (IoMT) is proposed, implemented, analyze it by artificial intelligence using fuzzy logic. Atmega microcontroller was used to achieve the function of the proposed work and provide the area for monitoring and Analytic(decision) to the caretakers or doctors through putting the results in the platform. In this paper, the heart rate pulse sensor and infrared temperature sensor are chosen, which give skin temperature and room temperature to provide their results to the caretaker. The decision that gives the patient is in a normal state, or the fuzzy logic does an abnormal state or risk state. The fuzzy logic is used for it accurate and fast in processing data and gives a result very closer to the reality in smart health services. IoMT enables the doctors and caretakers to monitor the patient easily at any time and any place by using their intelligent laptops, tablets, and phones. Finally, the proposed system can contribute to the construction of a wide healthcare monitoring system in the unit or in the department that follows on for the hospital. Therefore, Doctors can improve the accuracy of the diagnosis, as they receive all the patient data necessary.

Nowadays, the Wireless Sensor Network (WSN) has materialized its working areas, including environmental engineering, agriculture sector, industrial, business applications, military, intelligent buildings, etc. Sensor networks emerge as an attractive technology with great promise for the future. Indeed, issues remain to be resolved in the areas of coverage and deployment, scalability, service quality, size, energy consumption and security. The purpose of this paper is to present the integration of WSNs for IoT networks with the intention of exchanging information, applying security and configuration. These aspects are the challenges of network construction in which authentication, confidentiality, availability, integrity, network development. This review sheds some light on the potential integration challenges imposed by the integration of WSNs for IoT, which are reflected in the difference in traffic features.

A robot is a smart machine that can help people in their daily lives and keep everyone safe. the three general sequences to accomplish any robot task is mapping the environment, the localization, and the navigation (path planning with obstacle avoidance). Since the goal of the robot is to reach its target without colliding, the most important and challenging task of the mobile robot is the navigation. In this paper, the robot navigation problem is solved by proposed two algorithms using low-cost IR receiver sensors arranged as an array, and a robot has been equipped with one IR transmitter. Firstly, the shortest orientation algorithm is proposed, the robot direction is corrected at each step of movement depending on the angle calculation. secondly, an Active orientation algorithm is presented to solve the weakness in the preceding algorithm. A chain of the active sensors in the environment within the sensing range of the virtual path is activated to be scan through the robot movement. In each algorithm, the initial position of the robot is detected using the modified binary search algorithm, various stages are used to avoid obstacles through suitable equations focusing on finding the shortest and the safer path of the robot. Simulation results with multi-resolution environment explained the efficiency of the algorithms, they are compatible with the designed environment, it provides safe movements (without hitting obstacles) and a good system control performance. A Comparison table is also provided.

This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment. The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon. The algorithms consist of two phases implemented to investigate the formation of polygon shape. In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage. The first step uses the information gathered by the main RP Lidar sensor to determine and compute the direction of each adjacent robot. The adjacent RP Lidar sensors are used to align the adjacent robots of the leader by transferring these adjacent robots to the leader. By performing this stage, the neighboring robots will be far from the leader. The second stage uses the information gathered by adjacent RP sensors to reposition the robots so that the distance between them is equal. On the other hand, in the neighbor-leader algorithm, the adjacent robots are rearranged in a regular distribution by moving in a circular path around the leader, with equal angles between each of the two neighbor robots. A new distribution will be generated in this paper by using one leader and four adjacent robots to approve the suggested leader neighbor algorithm and neighbor-leader algorithm.

This research aims to understand the enhancing reading advancement using eye gaze tracking in regards to pull the increase of time interacting with such devices along. In order to realize that, user should have a good understanding of the reading process and of the eye gaze tracking systems; as well as a good understanding of the issues existing while using eye gaze tracking system for reading process. Some issues are very common, so our proposed implementation algorithm compensate these issues. To obtain the best results possible, two mains algorithm have been implemented: the baseline algorithm and the algorithm to smooth the data. The tracking error rate is calculated based on changing points and missed changing points. In [21], a previous implementation on the same data was done and the final tracking error rate value was of 126%. The tracking error rate value seems to be abnormally high but this value is actually useful as described in [21]. For this system, all the algorithms used give a final tracking error rate value of 114.6%. Three main origins of the accuracy of the eye gaze reading were normal fixation, regression, skip fixation; and accuracies are displayed by the tracking rate value obtained. The three main sources of errors are the calibration drift, the quality of the setup and the physical characteristics of the eyes. For the tests, the graphical interface uses characters with an average height of 24 pixels for the text. By considering that the subject was approximately at 60 centimeters of the tracker. The character on the screen represents an angle of ±0.88◦; which is just above the threshold of ±0.5◦ imposed by the physical characteristics of the eyeball for the advancement of reading using eye gaze tracking.

This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.

The energy management will play an important role in the future smart grid by managing loads in an intelligent way. Energy management programs, realized via House Energy Management systems (HEMS) for smart cities, provide many benefits; consumers enjoy electricity price savings, and utility operates at reduced peak demand. This paper proposed an adaptive energy management system for islanded mode and grid-connected mode. In this paper, a hybrid system that includes distribution electric grid, photovoltaics, and batteries are employed as energy sources in the residential of the consumer in order to meet the demand. The proposed system permits coordinated operation of distributed energy resources to concede necessary active power and additional service whenever required. This paper uses home energy management system which switches between the distributed energy and the grid power sources. The home energy management system incorporates controllers for maximum power point tracking, battery charge and discharge and inverter for effective control between different sources depending upon load requirement and availability of sources at maximum powerpoint. Also, in this paper, the Maximum Power Point Tracking (MPPT) technique is applied to the photovoltaic station to extract the maximum power from hybrid power system during variation of the environmental conditions. The operation strategy of energy storage systems is proposed to solve the power changes from photovoltaics and houses loads fluctuations locally, instead of reflecting those disturbances to the utility grid. Furthermore, the energy storage systems energy management scheme will help to achieve the peak reduction of the houses daily electrical load demand. The simulation results have verified the effectiveness and feasibility of the introduced strategy and the capability of the proposed controller for a hybrid microgrid operating in different modes.

Rehabilitation robots have become one of the main technical instruments that Treat disorder patients in the biomedical engineering field. The robotic glove for the rehabilitation is basically made of specialized materials which can be designed to help the post-stroke patients. In this paper, a review of the different types of robotic glove for Rehabilitation have been discussed and summarized. This study reviews a different mechanical system of robotic gloves in previous years. The selected studies have been classified into four types according to the Mechanical Design: The first type is a tendon-driven robotic glove. The second type of robotic glove works with a soft actuator as a pneumatic which is operated by air pressure that passes through a plastic pipe, pressure valves, and air compressor. The third type is the exoskeleton robotic gloves this type consists of a wearable mechanical design that can used a finger-based sensor to measure grip strength or is used in interactive video applications. And the fourth type is the robotic glove with a liner actuator this type consists of a tape placed on the fingers and connected to linear actuators to open and close the fingers during the rehabilitation process.

In this study, Dielectric Barrier Discharge plasma irradiation (DBD) is applied to treatment and improve the properties of the ZnO thin film deposited on the glass substrate as a sensor for glucose detection. The ZnO is prepared via a sol-gel method in this work. ZnO is irradiated by the DBD high voltage plasma to improve of its sensitivity. The optical properties, roughness and surface morphology of the waveguide coated ZnO thin films before and after DBD plasma irradiation are studied in this work. The results showed a significant improvement in the performance of the sensor in the detection of concentrations of glucose solution after plasma irradiation. Where the largest value in sensitivity was equal to 62.7 when the distance between electrodes was 5 cm compared to the sensitivity before irradiation, which was equal to 92. The high response showed in results demonstrating that the fabricated waveguide coated ZnO after plasma irradiation has the excellent potential application as a sensor to detect small concentration of glucose solution.

In this article, a novel three dimensional chaotic systems is presented. An extensive analysis including Lyapunov exponents, dissipation, symmetry, rest points with their properties is introduced. An adaptive tracking control system for the proposed chaos system has been designed. Also, synchronization system for two identical systems has been designed. The simulation results showed the effectiveness of the designed tracking and synchronization control systems.

There are many serious accidents on human life caused by electric current columns, and it is possible for the Internet of Things to find solutions to prevent the risks that occur, as in many fields such as medicine, agriculture, industry and others. In this paper, we will show monitoring and tracking of the current that passes through the electrical poles and the possible leakage, in addition to monitoring the temperature and humidity in the area, and knowing the condition of the light in the column according to morning and evening, this proposed system that will perform a general purpose added to the region. using Open source NODE MCU board, GPS positioning, current sensor, temperature and humidity sensor that provide desired data via open source platforms that we have chosen to be ThingSpeak that easily to handle.

Precise power sharing considered is necessary for the effective operation of an Autonomous microgrid with droop controller especially when the total loads change periodically. In this paper, reactive power sharing control strategy that employs central controller is proposed to enhance the accuracy of fundamental reactive power sharing in an islanded microgrid. Microgrid central controller is used as external loop requiring communications to facilitate the tuning of the output voltage of the inverter to achieve equal reactive power sharing dependent on reactive power load to control when the mismatch in voltage drops through the feeders. Even if central controller is disrupted the control strategy will still operate with conventional droop control method. additionally, based on the proposed strategy the reactive power sharing accuracy is immune to the time delay in the central controller. The developed of the proposed strategy are validated using simulation with detailed switching models in PSCAD/EMTDC.

Quantum-dot Cellular Automata (QCA) is a new emerging technology for designing electronic circuits in nanoscale. QCA technology comes to overcome the CMOS limitation and to be a good alternative as it can work in ultra-high-speed. QCA brought researchers attention due to many features such as low power consumption, small feature size in addition to high frequency. Designing circuits in QCA technology with minimum costs such as cells count and the area is very important. This paper presents novel structures of D-latch and D-Flip Flop with the lower area and cell count. The proposed Flip-Flop has SET and RESET ability. The proposed latch and Flip-Flop have lower complexity compared with counterparts in terms of cell counts by 32% and 26% respectively. The proposed circuits are designed and simulated in QCADesigner software.

The demand for application of mobile robots in performing boring and extensive tasks are increasing rapidly due to unavailability of human workforce. Navigation by humans within the warehouse is one among such repetitive and exhaustive task. Autonomous navigation of mobile robots for picking and dropping the shelves within the warehouse will save time and money for the warehousing business. Proposing an optimization model for automated storage and retrieval systems by the goals of its planning is investigated to minimize travel time in multi-robot systems. This paper deals with designing a system for storing and retrieving a group of materials within an environment arranged in rows and columns. Its intersections represent storage locations. The title of any subject is indicated by the row number and the column in it. A method was proposed to store and retrieve a set of requests (materials) using a number of robots as well as one receiving and delivery port. Several simulation results are tested to show this improvement in length of path and time of arrival.

In this paper, a new compact coplanar antenna used for Radio frequency identification (FID) applications is presented. This antenna is operated at the resonant frequency of 2.45 GHz. The proposed antenna is designed on an epoxy substrate material type (FR-4) with small size of (40 × 28) mm2 in which the dielectric thickness (ℎ) of 1.6 mm, relative permittivity of 4.3 and tangent loss of 0.025. In this design the return loss is less than −10 dB in the frequency interval (2.12 − 2.84) GHz and the minimum value of return loss is -32 dB at resonant frequency. The maximum gain of the proposed antenna is 1.22 dB and the maximum directivity obtained is 2.27 dB. The patch and the ground plane of the proposed antenna are in the same surface. The proposed antenna has a wide bandwidth and omnidirectional radiation pattern with small size. The overall size of the compact antenna is (40 × 28 × 1.635) mm3. The Computer Simulation Technology (CST) microwave studio software is used for simulation and gets layout design.

The unprogrammed penetration for the loads in the distribution networks make it work in an unbalancing situation that leads to unstable operation for those networks. the instability coming from the imbalance can cause many serious problems like the inefficient use of the feeders and the heat increased in the distribution transformers. The demands response can be regarded as a modern solution for the problem by offering a program to decreasing the consumption behavior for the program's participators in exchange for financial incentives in specific studied duration according to a direct order from the utility. The paper uses a new suggested algorithm to satisfy the direct load control demand response strategy that can be used in solving the unbalancing problem in distribution networks. The algorithm procedure has been simulated in MATLAB 2018 to real data collected from the smart meters that have been installed recently in Baghdad. The simulation results of applying the proposed algorithm on different cases of unbalancing showed that it is efficient in curing the unbalancing issue based on using the demand response strategy.

Non-Orthogonal Multiple Access (NOMA) has been promised for fifth generation (5G) cellular wireless network that can serve multiple users at same radio resources time, frequency, and code domains with different power levels. In this paper, we present a new simulation compression between a random location of multiple users for Non-Orthogonal Multiple Access (NOMA) and Orthogonal Multiple Access (OMA) that depend on Successive Interference Cancellation (SIC) and generalized the suggested joint user pairing for NOMA and beyond cellular networks. Cell throughput and Energy Efficiency (EE) are gained are developed for all active NOMA user in suggested model. Simulation results clarify the cell throughput for NOMA gained 7 Mpbs over OMA system in two different scenarios deployed users (3 and 4). We gain an attains Energy Efficiency (EE) among the weak power users and the stronger power users.