IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING

1

Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

Mohamed J. Mohamed, Mustafa Y. Abbas

Pages: 1-15 English

Abstract

One of the major problems in the field of mobile robots is the
trajectory tracking problem. There are a big number of investigations for
different control strategies that have been used to control the motion of the
mobile robot when the nonlinear kinematic model of mobile robots was
considered. The trajectory tracking control of autonomous wheeled mobile
robot in a changing unstructured environment needs to take into account
different types of uncertainties. Type-1 fuzzy logic sets present limitations in
handling those uncertainties while type-2 fuzzy logic sets can manage these
uncertainties to give a superior performance. This paper focuses on the design
of interval type-2 fuzzy like proportional-integral-derivative (PID) controller
for the kinematic model of mobile robot. The firefly optimization algorithm has
been used to find the best values of controller’s parameters. The aim of this
controller is trying to force the mobile robot tracking a pre-defined continuous
path with minimum tracking error. The Matlab simulation results demonstrate
the good performance and robustness of this controller. These were confirmed
by the obtained values of the position tracking errors and a very smooth
velocity, especially with regards to the presence of external disturbance or
change in the initial position of mobile robot. Finally, in comparison with other
proposed controllers, the results of nonlinear IT2FLC PID controller
outperform the nonlinear PID neural controller in minimizing the MSE for all
control variables and in the robustness measure.

Keywords

Firefly algorithm Interval type-2 fuzzy like (PID) controller Mobile robot Trajectory tracking.

2

Comparative Study of Partitioned Stator Permanent Magnet Tubular Machines with Different Winding Configurations

Ahlam Luaibi Shuraiji, Z.Q. Zhu

Pages: 16-26 English

Full Text Issues

Abstract

In this study, partitioned stator permanent magnet (PS-PM) tubular
machines having single- and double-layer windings layouts have been
investigated. Two configurations of PS-PM tubular machines were considered,
i.e. partitioned stator surface mounted permanent magnet (PS-SPM) and
interior permanent magnet (PS-IPM) tubular machines. A comprehensive
comparison has been carried out in order to investigate the impact of the
winding layouts on such machines. It should be mentioned that the FE package
that is used in this paper is (ANSYS Maxwell). It has been noted that
irrespective of machines configurations, i.e. either PS-SPM or PS-IPM tubular
machines, similar thrust force capability, higher average thrust force per
magnet volume, lower thrust force ripple as well as cogging force and higher
fault tolerance capability can be delivered by PS-PM tubular machines with
single-layer winding compared to that with double-layer winding.

Keywords

Permanent magnet machines single and double-layer windings Tubular machines

3

Efficient Control System Based on Hand Nerve Signals

Ahmed Majid Abdel Abbas, Muayad Sadik Croock

Pages: 27-39 English

Full Text Issues

Abstract

Recent advances in the control applications based on hand nerve
signals are able to meet the needs of users who suffer from restrictions in limb
movement and also provide high performance control for those paralyzed
people. These signals are represented as Electromyography (EMG) signals,
which are biomedical ones, used for clinical/biomedical applications. In this
work, a control signals generation system is proposed based on hand EMG
measurements. The process of acquisition and processing of EMG signals is
performed by only one channel surface EMG electrodes with one EMG
processing unit as a muscle sensor. In this work, Arduino UNO is adopted as an
analog to digital converter for these hand nerve signals to be easily analyzed in
the classification process. These signals are measured from the skin surface of
forearm and biceps muscles in two suggested case studies to be used in
generating signals based on ten muscles movements. The main features that
crystallized this research is building a smart control algorithm which increases
the flexibility of generating precise control signals based on contracted hand
movements with high simplicity of use and the low cost. The obtained results are
compared to other systems results to show the ability of achieving 93.81%
classification rate or accuracy among other systems.

Keywords

Arduino UNO Biomedical application Control signals Electromyography.

4

Indoor Localization Using Deep-Learning and Smartphone

Zainab Mohammed Resan1, Muayad Sadik Croock

Pages: 40-49 English

Full Text Issues

Abstract

Robust and accurate indoor localization has been the goal of several research
efforts over the past decade. In the building where the GPS is not available, this project
can be utilized. Indoor localization based on image matching techniques related to deep
learning was achieved in a hard environment. So, if it wanted to raise the precision of
indoor classification, the number of image dataset of the indoor environment should be as
large as possible to satisfy and cover the underlying area. In this work, a smartphone
camera is used to build the image-based dataset of the investigated building. In addition,
captured images in real time are taken to be processed with the proposed model as a test
set. The proposed indoor localization includes two phases the first one is the offline
learning phase and the second phase is the online processing phase. In the offline learning
phase, here we propose a convolutional neural network (CNN) model that sequences the
features of image data from some classis's dataset composed with a smartphone camera.
In the online processing phase, an image is taken by the camera of a smartphone in real–
time to be tested by the proposed model. The obtained results of the prediction can appoint
the expected indoor location. The proposed system has been tested over various
experiments and the obtained experimental results show that the accuracy of the prediction
is almost 98.0%.

Keywords

CNN deep learning image classification. Localization Smartphone

5

Face Recognition Based on Viola-Jones Face Detection Method and Local Binary Pattern (LBP)

Suhad Ibrahim Mohammed

Pages: 50-55 English

Full Text Issues

Abstract

in this paper, the system consists of many steps, the first step includes the
histogram equalization, detection, feature extraction, and classification. At first, the data
set of a face image is segmented into four segments, after that Local Binary Pattern (LBP)
algorithm is performed to extract features for each segment. The best feature vectors for
all persons are stored in a new dataset in the next stage in order to be used in the testing
phase. Finally, the accuracy rate of performance is evaluated to prove its robustness.
Experiments show satisfying results and more accuracy achieved by the paper.

Keywords

Face image Recognition; LBP feature extraction. Viola-Jones; MUCT

6

Design and Implementation of e-Shopping System Using QR Code and Smart Mobile Phone

Basma Ahmed, Dr. Salih Al-Qaraawi

Pages: 56-64 English

Full Text Issues

Abstract

This paper presents a system that is used in one of the most important fields in
our daily life, shopping and entertainment. The system exploits a mobile application, Quick
Response (QR) code technique and network system. The QR tag is attached to each item in
the market, while the mobile application can be installed in the Smart Phone. The smart
phone is used to scan the attached QR tag and send the result to a network system and the
network system will process the received data. A brief information will be brought from the
local server database. However, if the customer is interested in more details, the network
system brings these details from the main server and applies them on the smart phone
screen. When the customer decides to buy the item, s/he can add it to the shopping list, then
the system updates the bill, sends it back to the customer and to the cashier at the same
time. The items will be prepared at the checkout point after payment. This system was
designed, implemented, and tested practically so that the performance of that system is
achieved for two main points: quick attainment of information and network congestion
avoidance.

Keywords

Information Retrieving Market Guiding. QR Code Technique Shopping Application

7

Assessment of Optimal Bragg Grating Length for Optical performance using Two Apodization Functions

Dr. Jabbar Kh. Mohammed

Pages: 65-72 English

Full Text Issues

Abstract

Fiber Bragg gratings (FBGs) are one of the most effective technologies because
of their suitability in many applications of the fiber techniques. Moreover, it can be utilized
in sensing elements and estimating the physical parameters of the optical fiber. In the
current research, various fiber bragg lengths are considered and a comparative
investagtion is made for the performance of the refractive index modulation at two different
apodization profiles namely: Gaussian index profiles and uniform index profiles. Also, a
comparative study of the optical communication system performance has been carried out
of refractive indexes with two apodization functions. A comprehensive comparison in terms
of gain, noise figure, OSNR, quality factor, bit error rate and power has been performed
where the performance of the optical system is studied under various optical channel
lengths (from 25 km to 100 km) with various FBG lengths, which are ranged from 4 mm to
14 mm in both apodization profiles, i.e. uniform profile and Gaussian profile. In order to
carry out the simulation of the performance RZ, the optisystem version 9 is used for single
channel based on over single mode fiber. The results showed that the maximum Q.F. as the
performance parameter is obtained at the FBG length of 8 mm at all optical lengths.
Moreover, the varation effect of optical fiber channel length was greater than the varation
effect of refractive index for all the studied parameters (gain, noise figure, OSNR, quality
factor, BER, and power) for two apodization functions.

Keywords

a comparative study of the optical communication system performance has been carried out of refractive indexes with two apodization functions. A comprehensive comparison in terms of gain and power) for two apodization functions. BER bit error rate and power has been performed where the performance of the optical system is studied under various optical channel lengths (from 25 km to 100 km) with various FBG lengths Fiber Bragg gratings (FBGs) are one of the most effective technologies because of their suitability in many applications of the fiber techniques. Moreover i.e. uniform profile and Gaussian profile. In order to carry out the simulation of the performance RZ it can be utilized in sensing elements and estimating the physical parameters of the optical fiber. In the current research Noise figure OSNR quality factor Quality factor the optisystem version 9 is used for single channel based on over single mode fiber. The results showed that the maximum Q.F. as the performance parameter is obtained at the FBG length of 8 mm at all optical lengths. Moreover the varation effect of optical fiber channel length was greater than the varation effect of refractive index for all the studied parameters (gain various fiber bragg lengths are considered and a comparative investagtion is made for the performance of the refractive index modulation at two different apodization profiles namely: Gaussian index profiles and uniform index profiles. Also which are ranged from 4 mm to 14 mm in both apodization profiles

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING

Articles in This Issue

Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

Abstract

Keywords

Comparative Study of Partitioned Stator Permanent Magnet Tubular Machines with Different Winding Configurations

Abstract

Keywords

Efficient Control System Based on Hand Nerve Signals

Abstract

Keywords

Indoor Localization Using Deep-Learning and Smartphone

Abstract

Keywords

Face Recognition Based on Viola-Jones Face Detection Method and Local Binary Pattern (LBP)

Abstract

Keywords

Design and Implementation of e-Shopping System Using QR Code and Smart Mobile Phone

Abstract

Keywords

Assessment of Optimal Bragg Grating Length for Optical performance using Two Apodization Functions

Abstract

Keywords