Ammar Ibrahim Majeed | AL-Mustansiriyah University (original) (raw)

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Papers by Ammar Ibrahim Majeed

The objectives of this work are to design, simulate and analyze the operation of an intelligent l... more The objectives of this work are to design, simulate and analyze the operation of an intelligent lead-acid battery charger supplied from a two (250W) nominal power, Photovoltaic (PV) panel in parallel to charge two (200Ah) capacity lead-acid batteries in parallel. The storage battery's effectiveness depends on the charging process. Hence, this research deals with the study, simulation and design of an intelligent charger fed by solar system due to the latest technologies. The developed charging method entitled "the decreased charging current based on SOC" is adopted in this research to charge a lead-acid battery. The principle of decreased charging current is to make the real charging current as close as possible to the maximum acceptable current. The advantage of this technique is to mix between the rapidity of charging and prevents of the overcharging and generates gases. Also, the design considers different operating conditions of load, battery state of charge (SOC) and ambient effect in order to achieve the best charging condition of the batteries and to be compatible with the user requirements. Therefore, this technique of charging can be considered as intelligent charging compared to traditional charging ways, which are often either an a constant charging current or a constant charging voltage. The flexible, simple and cheap design is the objective of this research. The obtained results agree with the research objective.

In this paper, a detailed mathematical model for a virtual robotic fish is presented including hy... more In this paper, a detailed mathematical model for a virtual robotic fish is presented including hydrodynamic forces and environmental conditions such as oceanic currents. Sony HandyCam camera is used to monitor a live carp fish. The useful monitoring data is extracted from the monitoring images that are used to analyse the locomotion of the fish and determine specific control variables during swimming. The locomotion control and autonomous navigation of the proposed virtual robotic fish is simulated in 3D using Matlab program. Experimental results show that the simulator provides a realistic and convenient way to develop autonomous navigation algorithms for the virtual robotic fish. A course of experimental results show that the control scheme was very effective in path planning and trajectory tracking problems.

GSTF Journal of BioSciences, 2014

The purpose of this paper is to introduce Artificial Neural Network (ANN) based system identifica... more The purpose of this paper is to introduce Artificial Neural Network (ANN) based system identification for a nonlinear dynamics structure of fish school for trajectory tracking problem. A discrete time dynamic model has been derived, and the neural network (NN) training data has been collected experimentally using a Simulink model within MATLAB program designed for this purpose. This work also seeks to design a user friendly program to automatically monitor and track the trajectory of the live fish in an aquarium using two webcams to produce a three dimensions (3D) view of the acquired trajectory. MATLAB program was used to develop a graphical user interface (GUI) which allows the monitoring user to input experiment specifications such as desired tracking time, tracking region and video source (real time directly from webcams vs. cached from the pre-saved files) in addition displaying the acquired videos from two webcams, position of the tracked fish (trajectory), and fish velocity. A predictive control approach based on NN is proposed to provide the control signal(s) that could be used to control the robotic fish to achieve trajectory tracking task in an attempt to design and build autonomous robotic fishes in future that are able to reactive to the environment and navigate toward the desired location underwater.

University of Thi-Qar Journal for Engineering Sciences

This paper deals with design and simulation of Proportional plus Derivative (PD) controller for t... more This paper deals with design and simulation of Proportional plus Derivative (PD) controller for two links robotic arm. The PD controller was used to compute the required joint's torque for tracking the desired trajectory. The Particle Swarm Optimization (PSO) algorithm has been used in order to tune the gains of the proportional and derivative parts of PD controller. Simulation results show an efficient and robust behavior of the proposed controller. Two cases of simulation tests were carried out. The first was tracking a sine wave trajectory while the second was tracking the same trajectory with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the results obtained by other researchers, for similar robotic arm properties and same trajectory. The proposed controller offers a simple method for trajectory tracking problem with a satisfactory efficiency. A Mean Square Error (MSE) criterion was used to study the efficiency of the proposed controller in tracking the desired trajectory.

Procedia Manufacturing

Abstract In this paper, an inductive power transfer (IPT) system with four various resonance topo... more Abstract In this paper, an inductive power transfer (IPT) system with four various resonance topologies were actively researched: series-series, series-parallel, series-parallel-series and dual side LCC. The aims of the study are analyzing and comparison of these topologies in order to facilitate of choosing a suitable resonant circuit for a specific application of an IPT system. The considered criteria of analysis and comparison were: input impedance, suitability for small/large air-gap, ability to supply low/high load voltage, voltage gain, sensitivity to a misalignment, and activity at low/high frequency. Due to its high magnetic coupling, square coils were used in the transmitter and receiver sides.

2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA), 2016

Building successful applications using mimicked robotic fish required a comprehensive study to th... more Building successful applications using mimicked robotic fish required a comprehensive study to the various parameters affecting fish's performance during swimming in water, such as thrusting force, swimming speed, manoeuvrability, etc. during various swimming behaviour including straight swimming, c-turn escape and s-shape maneuver. The high complexity of the underwater environments pushed the researchers to find new techniques for underwater robots modelling. Among these techniques, video model prediction technique plays an important role in describing the rules covering the relationships between the fish and its environment. This paper introduces an experimental method to model and then simulate, using Matlab, the main swimming modes of a carangiform Carp fish swimming based on the continuous video monitoring. The suggested models may be used in the future to build and control a real counterpart robotic fish and to produce the important autonomous navigation commands that govern the robotic fish locomotion. The realistic results of fish swimming simulation prove the validity of suggested models.

2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA), 2016

This paper extends the parallel operation of the 8051 microcontroller chip and presents the use o... more This paper extends the parallel operation of the 8051 microcontroller chip and presents the use of multiple 8051s that are connected to a common loop in a multiprocessor configuration. The 8051 multiprocessing implies many processors acting in some unified manner and connected so that data can be interchanged between them. There is generally a controlling or "talker" microcontroller that directs the activities of the remainder of the loop microcontrollers, or "listeners". One particular characteristic of a talker-listener loop is the frequent transmission of data between the talker and individual listeners. All data broadcast by the talker is received by all the listeners, although often the data is intended only for one or a few listeners. While some times, data is broadcast that is meant to be used by all the listeners. Communication through multiple 8051s use standard UART technology which assign unique addresses to all the listeners using mode 1, in this mode the listeners will waste a lot of processing time rejecting data not addressed to them. Mode 2 and 3 reduces processing time by enabling character reception based upon the state of SM2 in a listener and the state of bit ten in the transmitted character. A single strategy is used to enable a few listeners to receive data while the majority ignores the transmissions. This system is implemented and tested for transmitting data through talker as master and two listeners as slaves.

This paper presents the serially communication design of the 8051 microcontroller-based system an... more This paper presents the serially communication design of the 8051 microcontroller-based system and PC interconnection using RS232 design rules. It also presents software designs to transfer data back and forth between the two systems effectively. It has presented the major details required to program the 8051 serial port. One-cost effective way to communicate is to send and receive data bits serially, also, the on board UART is very flexible and can be set up to communicate with other systems at high speeds. The simultaneous transmission-reception and receive buffering serial port features allowed lines of texts and characters to be transmitted and received through RS232 device. Some codes are needed to go along with it to control all data coming in and out of the UART. Practical results show that a slight error in the resulting baud rate, due to rounding the initializing number in the timer registers, affects the accuracy of the received and transmitted data. Several programs and subroutines are developed that let the user begin to exercise the 8051 instruction code and hardware capability.

Real-time electronic distributed control systems are an important development of the technologica... more Real-time electronic distributed control systems are an important development of the technological evolution. Electronics are employed to control and monitor most safety-critical applications from flight decks to hospital operating rooms. As these real-time systems become increasingly prevalent and advanced, so does the demand to physically distribute the control in strict real-time. Thus, there is a need for control network protocols to support stringent real-time requirements. Real-time networks must provide a guarantee of service so they will consistently operate deterministically and correctly. Ethernet is nowadays being focused by various automation system developers over other field bus systems due to its cheap hardware availability, being wireless, straightforward integration to the Internet and support for the higher bandwidth requirements in the future [1]. It is also emerging strongly into the area of industrial communication. Ethernet, as defined in IEEE 802.3, is non-deterministic and thus, is unsuitable for hard real-time applications. The media access control protocol, CSMA/CD with its back off algorithm, prevents the network from supporting hard real-time communication as due to its random delays and potential transmission failures. This paper presents design and implementation based on an extensive research and development being carried out to enhance the possibilities of using standard TCP/IP Ethernet protocol for condition monitoring and distributed real-time control of industrial drive systems via Ethernet.

In this paper, a detailed mathematical model for a virtual robotic fish is presented including hy... more In this paper, a detailed mathematical model for a
virtual robotic fish is presented including hydrodynamic forces
and environmental conditions such as oceanic currents. Sony
HandyCam camera is used to monitor a live carp fish. The useful
monitoring data is extracted from the monitoring images that are
used to analyse the locomotion of the fish and determine specific
control variables during swimming. The locomotion control and
autonomous navigation of the proposed virtual robotic fish is
simulated in 3D using Matlab program. Experimental results
show that the simulator provides a realistic and convenient way
to develop autonomous navigation algorithms for the virtual
robotic fish. A course of experimental results show that the
control scheme was very effective in path planning and
trajectory tracking problems.

GSTF Journal of BioSciences, 2014

University of Thi-Qar Journal for Engineering Sciences

Procedia Manufacturing

2016 Al-Sadeq International Conference on Multidisciplinary in IT and Communication Science and Applications (AIC-MITCSA), 2016

In this paper, a detailed mathematical model for a virtual robotic fish is presented including hy... more In this paper, a detailed mathematical model for a
virtual robotic fish is presented including hydrodynamic forces
and environmental conditions such as oceanic currents. Sony
HandyCam camera is used to monitor a live carp fish. The useful
monitoring data is extracted from the monitoring images that are
used to analyse the locomotion of the fish and determine specific
control variables during swimming. The locomotion control and
autonomous navigation of the proposed virtual robotic fish is
simulated in 3D using Matlab program. Experimental results
show that the simulator provides a realistic and convenient way
to develop autonomous navigation algorithms for the virtual
robotic fish. A course of experimental results show that the
control scheme was very effective in path planning and
trajectory tracking problems.