Al-Khwarizmi Engineering Journal,
Vol.7, No. 4 (2011)
Nabeel K. Al sahib
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.
Albert E. Yousif
Experimental Estimation of Critical Buckling Velocities for Conservative Pipes Conveying Fluid.
Conservative pipes conveying fluid such as pinned-pinned (p-p), clamped–pinned (c-p) pipes and clamped-clamped (c-c) lose their stability by buckling at certain critical fluid velocities. In order to experimentally evaluate these velocities, high flow-rate 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 flow-rate 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 p-p and c-p pipes. However, for c-c pipes it was not so unless a higher flow rate is used.
Mauwafak A. Tawfik
Mohammed I. Mohsin
Adnan D. Mohammed
The Estimation of Vibrational Energy of Two Coupled (Welded) Plates Using Statistical Energy Analysis.
Taghreed M. Mohammad Ridha
Mina Qais Kadhum
Back stepping-Based-PID-Controller 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
Mohammed Abd Atiya Al-Saraj
Ameel Mohammed Rahman
Simulation of Oxygen Mass Transfer in an Internal Loop Airlift Reactor with Axial Dispersion Model.
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 (Na2 HPO4) used as corrosion inhibitor and sodium glocunate (C6 H11 NaO7) as a scale dispersant at different concentrations (20,40, 60, 80 ppm) and at different temperature (25,50,75 and 100)ºC for (1-5) 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).
Shaimaa A. Mahdi
The Linear and Nonlinear Electro-Mechanical Fin Actuator.
Ali I. Al-Mosawi
Abbas A. Mahmood
Ali J. Salaman
Using of Coating Technique by Inorganic Flame Retardants to Protect Civil and Industrial Foundations from Fires