Ekhlas Hameed Karam

Al-Mustansiriya University · Department of Computer Engineering

span>Model based adaptive controllers (MBACs) are considered one of the most common adaptive controllers that are used with robotic systems due to their ensuring nonlinear robust scheme with global asymptotic stability for controlling nonlinear systems. However, this controller requires precise mathematical models of the controlled systems. In this...

The proportional-integral-derivative (PID) is still the most common controller and stabilizer used in industry due to its simplicity and ease of implementation. However, in most of the real applications, the controlled system has parameters that slowly vary or are uncertain. Thus, PID gains must be adapted to cope with such changes. In this researc...

The type1 of diabetes is a chronic situation characterized by abnormally high glucose levels in the blood. Persons with diabetes characterized by no insulin secretion in the pancreas (ß-cell) which also known as insulin-dependent diabetic Mellitus (IDDM). In order to keep the levels of glucose in blood near the normal ranges (70-110mg/dl), the diab...

A Human Leg Robot (HLR) is a type of manipulator robot that has non-linear, quality, time-varying behaviors and uncertainty in parameters. Therefore, it must be controlled. The purpose of this work is to design an optimal Improved Proportional-Integral-Derivative (IPID) controller for this robot to improve its performance in tracking the desired pa...

The traditional Proportional-Integral-Derivative (PID) controller is a feedback control loop that is commonly used in industrial control systems with fixed parameters, whereas the adaptive PID (APID) controller is based on the analysis of traditional PID controllers. It utilizes an online parameter adjustment method built on the state of the system...

The traditional Proportional-Integral-Derivative (PID) controller is a feedback control loop that is commonly used in industrial control systems with fixed parameters, whereas the adaptive PID (APID) controller is based on the analysis of traditional PID controllers. It utilizes an online parameter adjustment method built on the state of the system...

The number of cancer diagnoses and deaths worldwide is rising every year despite technological advancements in diagnosing and treating multiple forms of cancer. An oncolytic virus is a type of tumour-killing virus that can infect and analyze cancer cells while mostly preserving normal cells. The oncolytic Vesicular-Stomatitis Virus therapeutic's ce...

Despite medical and technological advancements that can detect and cure many cancer forms, cancer incidence and mortality rates are rising worldwide. A tumor-killing virus that infects and analyzes cancer cells while leaving most normal cells intact is known as an oncolytic virus. The mathematical model of interact between tumor cells and oncolytic...

The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of i...

The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of i...

The rapid and uncontrollable cell division that spreads to surrounding tissues medically termed as malignant neoplasm, cancer is one of the most common diseases worldwide. The need for effective cancer treatment arises due to the increase in the number of cases and the anticipation of higher levels in the coming years. Oncolytic virotherapy is a pr...

The rapid and uncontrollable cell division that spreads to surrounding tissues medically termed as malignant neoplasm, cancer is one of the most common diseases worldwide. The need for effective cancer treatment arises due to the increase in the number of cases and the anticipation of higher levels in the coming years. Oncolytic virotherapy is a pr...

In this paper an optimal Immune-Proportional-Integral-Derivative (Immune-PID) scheme is suggested to control to the heart rate of humans and regulate it, based on Yanagihara, Noma, and Irisawa (YNI) as mathematical model of the heart rate. The parameters of the suggested immune PID controller are optimized by using BiogeographyBased-Optimization (B...

The control of higher order linear system is one of the main fields of research area that has been studied for decades because of the difficulty in designing a controller for such systems. One of the best approaches to solve this problem is by reducing the order of the system into a second orders, based on this reduction many approaches can be prop...

The Two-Wheeled Self-Balancing mobile Robot (TWSBR) is one of the unstable highly nonlinear dynamic systems. This work aims to design a robust controller for controlling TWSBR, in order to solve the balancing and tracking problems. A Sliding Mode Controller based on state feedback (SFSMC) is suggested to solve these problems. In this work, the equi...

Diabetes is an increasing worldwide health problem. In particular, patients with type 1 diabetes who require strict control of blood glucose because they have insulin production insufficient. In this paper, the Second Order Sliding Mode Controller (SOSMC) depending on Super Twisting Algorithm (STA) has suggested to control the blood glucose levels...

The objective of this paper is to present a proposed control model for the electromechanical damper mass spring system including the backstepping technique in comparison with the conventional proportional–derivative–integral (PID) controller unit to realize the best performance of the control systems. The suggested approach demanded the constructio...

The type1 of diabetes is a chronic situation characterized by abnormally high glucose levels in the blood. Persons with diabetes characterized by no insulin secretion in the pancreas (ß-cell) which also known as insulin-dependent diabetic Mellitus (IDDM). In order to keep the levels of glucose in blood near the normal ranges (70-110mg/dl), the diab...

Model reference controller is considering as one of the most useful controller to specific performance of systems where the desired output is produced for a given input. This system used the difference between the outputs of the plant and the desired model by comparing them to produce the signals of the control. This paper focus on design a model r...

p>Model reference controller is considering as one of the most useful controller to specific performance of systems where the desired output is produced for a given input. This system used the difference between the outputs of the plant and the desired model by comparing them to produce the signals of the control. This paper focus on design a model...

Monitoring depth of anesthesia (DOA) is a significant point in general anesthesia (GA). It can be obtained from the assessment of the drug dose carefully and preciously. As a benefit of drug delivery automation, closed-loop method will present several advantages. It may prevent excessive dose amount or less needed dose and the controlled feedback s...

This paper presents different structures of immune proportional-integral-derivative (PID) control system, to regulate the heart rate. It is based on Yanagihara, Noma, and Irisawa (YNI) model that represent the mathematical model of the heart. Three structure designs have been proposed to emphasize the optimality in the control process. In this work...

Anesthesia is considered as one of the most important part of any surgical operation due to this it must be good monitored and controlled, i.e. the rate of infusion must be given an inappropriate dose to save the patient status in an adequate level of anesthesia. The model translates the relation between the drug used and patient response is pharma...

The design and implementations of a mobile target tracking system using field-programmable gate array (FPGA) are presented in this work. The idea of variable dimension (VD) filter which is used for tracking the nonmaneuver and maneuvering target is simplified and demonstrated by the FPGA implementations. In general, the VD filter consist of two dif...

A modified Model-Free Sliding Mode Controller (MF-SMC) scheme, which based on the Biogeography-Based Optimization (BBO) algorithm is suggested, to regulate the heart rate since it is difficult to derive a suitable model for the control algorithm, therefore the traditional control algorithm cannot perform efficiently. Also, a smoothing boundary laye...

Type I diabetic patients is a chronic condition marked by an abnormally large level of glucose in human blood. Persons with diabetes characterized by no insulin secretion in the pancreas (ß-cell) also known as insulin-dependent diabetic Mellitus (IDDM). The treatment of type I diabetes is depending on the delivery of the exogenous insulin to reach...

In general intravenous anesthesia, drugs must be given in a proper rate to ensure the safety of the patient during the surgical operation. Pharmacokinetic-Pharmacodynamic (PK/PD) model was used to represent the relationship between the given drug and its effect on the patient. In this paper and depending on the PK/PD model, a simple control scheme...

In this paper, a robust Radial Basis Function (RBF) Backstepping Sliding Mode controller (BS-SMC) is successfully developed for the attitude stabilization and tracking the trajectory of two wheeled self-balancing mobile robot under the external disturbance and uncertainty. The design of BS control is derived based on Lyapunov function to ensure the...

In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg model. This controller consists from SISO fuzzy propo...

The aim of this paper is to suggest a methodical smooth control method for improving the stability of two wheeled self-balancing robot under effect disturbance. To promote the stability of the robot, the design of linear quadratic regulator using particle swarm optimization (PSO) method and adaptive particle swarm optimization(APSO). The computatio...

The aim of this paper is to suggest a methodical smooth control method for improving the stability of two wheeled self-balancing robot under effect disturbance. To promote the stability of the robot, the design of linear quadratic regulator using particle swarm optimization (PSO) method and adaptive particle swarm optimization (APSO). The computati...

This paper presents an optimal design of a modified Proportional Integral Derivative (PID) controller with nonlinear signum function for vibration control of a single-link flexible manipulator system. This manipulator is a Single Input Multi Output (SIMO) system with applied torque as the input signal, and the hub angle and tip deflection as the ou...

This paper presents an optimal design of a modified Proportional Integral Derivative (PID) controller with nonlinear signum function for vibration control of a single-link flexible manipulator system. This manipulator is a Single Input Multi Output (SIMO) system with applied torque as the input signal, and the hub angle and tip deflection as the ou...

An interactive algorithm to the restoration of a noisy image is presented in this paper. This algorithm composites of two filters working together with scalar recursive Kalman filter at the same time. The first one is the arithmetic median filter with a suitable window length, while the second one is the mean filter with only five neighboring point...

A nonlinear filtering is an important part of processing and restoring image sequence. The computation complexity of these filtering algorithms makes them difficult for real-time processing. This paper presents the design and implementation of a pure fuzzy filter, which is effective to remove the impulse noise, and a new method for hardware impleme...

Reprogrammable devices such as Field Programmable Gate Arrays (FPGAs) are highly attractive options for hardware implementations of encryption algorithms as they provide cryptographic algorithm agility, physical security, and potentially much higher performance than software solutions, therefore this paper investigates a hardware design to efficien...

Imperfect transmission of block-coded images often causes lost blocks. These blocks may contain very important information of image. In this paper, an efficient method of error concealment scheme is proposed for restoring lost blocks and lines in medical images that are transmitted over error prone network such as the internet and wireless networks...

Represent Different Types of Sliding Mode Controllers by VHDL 2494 R Re ep pr re es se en nt t D Di if ff fe er re en nt t T Ty yp pe es s o of f S Sl li id di in ng g M Mo od de e C Co on nt tr ro ol ll le er rs s b by y V VH HD DL L Abstract This paper focus on represent and implementation the conventional sliding mode control (SMC), in addition...

A simple control scheme with smith predictor connection is proposed in this paper for time delay higher order systems. The control scheme is simply integral (I) controller with Proportional Derivative(PD)-Sliding mode controller(SMC). The initial values for the P,I, and D parameters are taken from the reduced model of the higher order system. Addit...