IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING

This paper addresses the problem of position control and stabilization for the
two wheeled balancing robot. A mathematical model is derived based on the robot’s
position and tilt angle and a fuzzy logic control is proposed for the balancing robot
control. The fuzzy logic controller performance is compared with a conventional PID
controller to show the difference between them. Both controllers were tested on the
balancing robot in simulation using MATLAB software and the results were put together
for a comparative point of view. The simulations shows a relative advantage for the fuzzy
logic controller over the conventional PID controller especially in reducing the time
required for stabilization which takes about 2 seconds and almost without overshoot
while in the PID case the robot will have about 10% overshoot in position and about 20
degrees in tilt angle.

Hospital Management System (HMS) is a computerizing scheme used to
simplify several efforts of the working in a hospital. The system deals with all the
requirements of different hospitals to offer efficient services to patients. In addition, it
stores the patients’ information for long term for historical records. In this paper, we
design and implement a web based HMS for group of hospitals in Iraq. The system
provides an efficient link between the hospital’s departments including the laboratories,
radiology, pharmacy and the consultants. The proposed system gives simple access to
basic data, thus enabling the management to take better decisions on time. The website
is designed using PHP, HTML and CSS environments, while the database is built
utilizing MySQL version 5.7.11. As a case study, two hospitals (Margan in Babylon and
Ibn-Alnafees in Baghdad) have been considered. The results show that the proposed
system has achieved high performance and accuracy in terms of provided health
services, data management and time consuming.

Building a precise low cost indoor positioning and navigation
wireless system is a challenging task. The accuracy and cost should be taken
together into account. Especially, when we need a system to be built in a harsh
environment. In recent years, several researches have been implemented to
build different indoor positioning system (IPS) types for human movement using
wireless commercial sensors. The aim of this paper is to prove that it is not
always the case that having a larger number of anchor nodes will increase the
accuracy. Two and three anchor nodes of ultra-wide band with or without the
commercial devices (DW 1000) could be implemented in this work to find the
Localization of objects in different indoor positioning system, for which the
results showed that sometimes three anchor nodes are better than two and vice
versa. It depends on how to install the anchor nodes in an appropriate scenario
that may allow utilizing a smaller number of anchors while maintaining the
required accuracy and cost.

This paper presents the design of a full state feedback controller
to an inverted pendulum system. The nonlinear and linearized models of the
system are obtained. The main goal of the proposed controller is to maintain the
pendulum in the upright position and achieve a desirable tracking for the cart
position. To achieve desirable tracking properties an integral term is added. The
robustness of the proposed controller is examined when a 20% variation in the
parameters of system is considered.

The main aim with any modern digital communication systems is to
provide error free data transmission. To achieve this aim, error control coding
techniques are applied with these systems. In this paper, digital communication
system was implemented based on convolutional code, aided by soft-bit
decoding for error free transmission. Fixed length source encoder was
represented with this work, and statistically described the output of the source
encoder and save this description at the receiver as a priori knowledge about
the source encode. These a priori knowledge were exploited at the receiver to
improve the performance of the proposed system in term of BER by conceal the
errors occurred through the transmission of information over AWGN channel,
aided the convolutional encoder. Significant improvements were obtained with
this proposed system.

With the development of technologies and the availability of internet
in the present era, the human has been looking for ease and efficiency in
running his business, the educational field has been affected by a radical
revolution as a result of the introduction of advanced technology. This has led
educational institutions to provide and utilize all methods of advanced
technology. This paper suggests a simple way of taking students attendance in
universities and schools by using face detection and recognition with the goal of
checking student’s attendance in the classroom automatically. This operation is
done with low cost because there is no need for special hardware to install the
system in the classroom. It can be applied using a computer and a camera with
low effort and high efficiency. Eigenfaces algorithm is applied in the proposed
system for face detection and recognition utilizing OpenCV libraries and Visual
C#.Net 2015 with Microsoft Access 2016.

This paper presents a new approach in the modeling and the design of
sensorless control method for the Permanent Magnet Synchronous Motor (PMSM) based
on the use of the Extended Kalman Filter (EKF). The fourth order EKF is proposed to
estimates the states: motor speed ω, rotor angular position, θ and the currents from the
measured currents and voltages. The linearization of the nonlinear PMSM model is done
in the α_β coordinate system to perform the operation of the EKF.The three phases Space
Vector Pulse Width Modulation (SVPWM) inverter usually implemented as a part of the
Field Oriented Control (FOC) strategy which has become a standard in the control of
PMSM.