AlKhwarizmi Engineering Journal,
Vol.7, No. 4 (2011)
No. 
Author Name 
Title 
Abstract 
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1 
Nabeel K. Al sahib
Amenah A.H. Sali 
Path Planning Control for Mobile Robot.

Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.
This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.

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2 
Mohsen J.Jweeg
Albert E. Yousif
Mahmud R. Ismail 
Experimental Estimation of Critical Buckling Velocities for Conservative Pipes Conveying Fluid.

Conservative pipes conveying fluid such as pinnedpinned (pp), clamped–pinned (cp) pipes and clampedclamped (cc) lose their stability by buckling at certain critical fluid velocities. In order to experimentally evaluate these velocities, high flowrate pumps that demand complicated fluid circuits must be used.
This paper studies a new experimental approach based on estimating the critical velocities from the measurement of several fundamental natural frequencies .In this approach low flowrate pumps and simple fluid circuit can be used.
Experiments were carried out on two pipe models at three different boundary conditions. The results showed that the present approach is more accurate for estimating the critical velocities of pp and cp pipes. However, for cc pipes it was not so unless a higher flow rate is used.

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3 
Mauwafak A. Tawfik
Mohammed I. Mohsin
Hayder S. Abd AlAmir 
Control on a 2D Wing Flutter Using an Adaptive Nonlinear Neural Controller. 
An adaptive nonlinear neural controller to reduce the nonlinear flutter in 2D wing is proposed in the paper. The nonlinearities in the system come from the quasi steady aerodynamic model and torsional spring in pitch direction. Time domain simulations are used to examine the dynamic aero elastic instabilities of the system (e.g. the onset of flutter and limit cycle oscillation, LCO). The structure of the controller consists of two models :the modified Elman neural network (MENN) and the feed forward multilayer Perceptron (MLP). The MENN model is trained with offline and online stages to guarantee that the outputs of the model accurately represent the plunge and pitch motion of the wing and this neural model acts as the identifier. 
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4 
Adnan D. Mohammed
Hawraa S. Ibraham 
The Estimation of Vibrational Energy of Two Coupled (Welded) Plates Using Statistical Energy Analysis.

This paper deals with a method called Statistical Energy Analysis that can be applied to the mechanical and acoustical systems like buildings, bridges and aircrafts …etc. S.E.A as a tool can be applied to the resonant systems in the circumstances of high frequency or/and complex structure». The parameters of S.E.A such as coupling loss factor, internal loss factor, modal density and input power are clarified in this work ; coupled plate subsystems and explanations are presented for these parameters. The developed system is assumed to be resonant, conservative, linear and there is an equipartition of energy between all the resonant modes within a given frequency band in a given subsystem. 
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5 
Taghreed M. Mohammad Ridha
Mina Qais Kadhum
ShaimaMahmou Mahdi 
Back steppingBasedPIDController Designed for an Artificial Pancreas model.

Artificial pancreas is simulated to handle Type I diabetic patients under intensive care by automatically controlling the insulin infusion rate. A Backstepping technique is used to apply the effect of PID controller to blood glucose level since there is no direct relation between insulin infusion (the manipulated variable) and glucose level in Bergman’s system model subjected to an oral glucose tolerance test by applying a meal translated into a disturbance. Backstepping technique is usually recommended to stabilize and control the states of Bergman's class of nonlinear systems. The results showed a very satisfactory behavior of glucose deviation to a sudden rise represented by the meal that increase the blood glucose

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6 
Mohammed Abd Atiya AlSaraj
Ameel Mohammed Rahman
Aseel Abd AlJabbar 
Simulation of Oxygen Mass Transfer in an Internal Loop Airlift Reactor with Axial Dispersion Model.

The effect of superficial gas velocity within the range 0.010.164 m/s on gas holdup (overall, riser and down comer), volumetric oxygen mass transfer coefficient, liquid circulation velocity was studied in an internal loop concentric tubes airlift reactor (working volume 45 liters). It was shown that as the u_{sg} increases the gas holdup and also the liquid circulation velocity increase. Also it was found that increasing superficial gas velocity lead to increase the interfacial area that increases the overall oxygen mass transfer coefficient. The hydrodynamic experimental results were modeled with the available equations in the literature. 
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7 
Dina Raheem 
Effect of Mixed Corrosion Inhibitors in Cooling Water System

The effect of mixed corrosion inhibitors in cooling system was evaluated by using carbon steel specimens and weight loss analysis. The carbon steel specimens immersed in mixture of sodium phosphate (Na_{2 }HPO_{4}) used as corrosion inhibitor and sodium glocunate (C_{6} H_{11 }NaO_{7}) as a scale dispersant at different concentrations (20,40, 60, 80 ppm) and at different temperature (25,50,75 and 100)ºC for (15) days. The corrosion inhibitors efficiency was calculated by using uninhibited and inhibited water to give 98.1%. The result of these investigations indicate that the corrosion rate decreases with the increase the corrosion inhibitors concentration at 80 ppm and at 100ºC for 5 days, (i.e, corrosion rate= 0.014gmd).

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8 
Shaimaa A. Mahdi
Zeina A. Abdul Redha 
The Linear and Nonlinear ElectroMechanical Fin Actuator.

Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spyfly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (3000 to 3000) and the damping ratio is varied from (0.4 to 0.8). 
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9 
Ali I. AlMosawi
Abbas A. Mahmood
Ali J. Salaman
Naser A.Alwash

Using of Coating Technique by Inorganic Flame Retardants to Protect Civil and Industrial Foundations from Fires

In the present research the flame retardancy to buildings and industrial foundations which are manufacturing from advanced polymeric composite material was increased by coating it with surface layer included flame retardant material. A(3mm) thick antimony tetroxide was used as a coated layer to retard and prevent the flame spread to the coating surface of polyester resin (SIROPOL 8340PI) reinforced with hybrid fibers as a woven roving (°45°0) consist of carbon and kevlar (49) fibers, and exposed it to direct flame generated from gas torch at temperature of (2000ºC), at different exposed distance (10,15,20mm)and study the rang of resistance for this layer and its ability to protect the under composite material . The result obtained from erosion test show an improvement to the resistance of the composite material to high temperature after addition of antimony tetroxide layer and this resistance increased with increasing the exposed distance of flame . 
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