IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING

This paper presents a cognitive system based on a nonlinear Multi-Input Multi-
Output (MIMO) Proportion Integral Derivative (PID) Modified Elman Neural Network
(MENN) controller and the Square Road Map (SRM) method to guide the mobile robot during
the continuous path-tracking with collision-free navigation through static obstacles. The
proposed cognitive system consists of two parts: the first part is to plan the desired path for the
mobile robot with the static obstacle environment in order to determine the target point and to
avoid the obstacles based on the proposed square road map algorithm. The second part is to
guide and track the wheeled mobile robot on the desired path equation based on the proposed
nonlinear MIMO-PID-MENN controller with the intelligent algorithm. The Particle Swarm
Optimization (PSO) is used to on-line tune the variable control parameters of the proposed
controller to get the optimal torques actions for the mobile robot platform. Based on using the
MATLAB package (2017), the numerical simulation results show that the proposed cognitive
system has high accuracy for planning the desired path equation in terms of avoiding the static
obstacles with smooth and short distance and generating a perfect torque action of (0.7 N.m)
without a saturation state of (3.07 N.m), which leads to minimize the tracking pose error for
the mobile robot to the zero value approximation. These results were confirmed by a
comparative study with different nonlinear PID controller types in terms of number of
iterations and the performance index.

The design of an H2 sliding mode controller for a mobile inverted
pendulum system is proposed in this paper. This controller is conducted to stabilize
the mobile inverted pendulum in the upright position and drive the system to a
desired position. Lagrangian approach is used to develop the mathematical model
of the system. The H2 controller is combined with the sliding mode control to give a
better performance compared to the case of using each of the above controllers
alone. The results show that the proposed controller can stabilize the system and
drive the output to a given desired input. Furthermore, variations in system
parameters and disturbance are considered to illustrate the robustness of the
proposed controller.

In this paper, the limitation of the existing E-Government system is
highlighted, followed by the introduction of the new e-service framework that handles
the e-government system in the offline mode. This framework can manage complaints
and transactions in an effective manner. The current study is significant since an
unbiased assessment of the loopholes was conducted in accordance with the
information security guidelines. Furthermore, all possible vulnerabilities of the system
were assessed to evaluate the actual impacts of the information security guidelines.
Some suggestions have been recommended to improve the information security of E-
governance systems for Martyrs and Wounded of Popular Mobilization Forces and
Iraqi Militaries. Nevertheless, the current project framework has been adopted from the
relevant research works performed earlier. The framework design involves two stages:
(1) design of a flexible website for Martyrs and Wounded of Popular Mobilization
Forces and Iraqi Militaries. In other words, we would like to provide a robust e-
government service to Iraqi government; and (2) improve system security and prevent
man-in-the-middle (MiMT) attack. The significance of this study is to reduce the claim
processing time for the martyrs and wounded of popular mobilization forces and Iraq
military. Furthermore, it will increase the reply time from the departments and the
clients to reply for their inquiries.

In the present work, the design of an L1 adaptive controller for
position control of a linear servo motor for X-Y table application has been
developed. The AC Permanent Magnet Linear Synchronous Servo Motor
(PMLSM) is considered. A comparative study between L1 adaptive control and
Model Reference Adaptive Control (MRAC) has been made. The effectiveness of
the L1 adaptive controller against uncertain parameters is analyzed based on
simulated results. Robustness characteristics of both L1 adaptive controller and
model reference adaptive controller to different input reference signals and
different structures of uncertainty have been evaluated. The L1-adaptive
controller could ensure uniformly bounded transient and asymptotic tracking
for input and output signals. Simulations based on MATLAB of an x-y table
based on PMLSM with time-varying friction and disturbance are presented to
verify the theoretical findings. The simulation results within the environment of
MATLAB/SIMULINK showed that L1-adaptive controller could give better
tracking performance, dynamic and steady-state characteristics, than that
obtained from MRAC for considered types of input and for various structures of
uncertainties.

The oil export industry dominates the economy of the world and it
depends heavily on oil pipelines. Exposed pipelines are prone to malfunctioning
due to intentional or unintentional tampering and vandalism, which is usually
caused by damaging form of either knocking or drilling. Continuous structure
health monitoring (SHM) of pipelines using conventional methods is difficult
and expensive due to the extensive length of the pipelines and the harsh
microcontrollers open new possibilities in the field of monitoring and have
proven their practicality in vibration monitoring process. This paper presents a
monitoring system for pipeline heal of the structure based on the wireless
sensor network. The system senses the pipeline vibration and relays the data to
a base station for the procession. A WSN consists of three nodes is designed and
implemented. Each node is built around 32-bit ARM core microcontroller, and
equipped with an accelerometer to measure the pipeline vibration. The
measurements of each sensor are collected wirelessly through ZigBee protocol
to a base station. Results on a 2 m pipeline sample show the ability of the
system to precisely detect damaging events e.g. knocking and drilling to the
pipeline.

The Powerline Communications (PLC) technology allows data
transmission through electrical wires. Thus the electrical wiring will represent
a data transmission channel conformable to the physical layer of the open
system interconnection (OSI) model. In this work, the specifications of the Iraqi
electrical network were used to model a high-voltage transmission line using a
transmission (ABCD) matrix and use it as a communication channel for
transmitting data within a narrow band (30-500). The transfer function of the
suggested model was derived and its performance analysis was performed to
evaluate the Line length effect, load impedance ZL and the source impedance ZS
on the channel frequency response. This analysis was done with the help of
Matlab16a simulator program.

This paper introduces a new hybrid E/F power amplifier for
subcutaneous applications. The proposed design is based on Amplitude Shift
Keying (ASK) modulation technique with Industrial Scientific Medical (ISM)
band operating at 135 kHz to avoid the tissue damage. The Hybrid E/F power
amplifier combines the tuning network circuits and uses a control unit to
control a selectable switch to choose the desired amplifier. The Amplitude Shift
Keying modulator is proposed to supply the proposed hybrid amplifier with
approximately constant DC voltage. The proposed power amplifier aims to
provide an appropriate power to power the implantable devices and reduce the
hardware of the subcutaneous devices depending on the specific applications.