Ibrahim Ismael Hamarash

• PhD
• Professor (Full) at Salahaddin University-Erbil

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design...

Dynamical systems with megastable properties are very rare in the literature. In this paper, we introduce a new two-dimensional megastable dynamical system with a line of equilibria, having an infinite number of stable states. By modifying this new system with temporally-periodic forcing term, a new two-dimensional non-autonomous nonlinear oscillat...

Investigating new chaotic flows has been a hot topic for many years. Studying the chaotic attractors of systems with various properties illuminates a lamp to reveal the vague of the generation of chaotic attractors. A new chaotic system in the spherical coordinates is proposed in this paper. The system’s solution is inside a predefined sphere, and...

The outbreak of the novel coronavirus (COVID-19), which was firstly reported in China, has affected many countries worldwide. To understand and predict the transmission dynamics of this disease, mathematical models can be very effective. It has been shown that the fractional order is related to the memory effects, which seems to be more effective f...

The path planning for Multi Mobile Robotic (MMR) system is a recent combinatorial optimisation problem. In the last decade, many researches have been published to solve this problem. Most of these researches focused on metaheuristic algorithms. This paper reviews articles on Ant Colony Optimisa-tion (ACO) and its hybrid versions to solve the proble...

This chapter is part of the new module titled Special Topics in Software Engineering, designed for third-year students in the Software Engineering program at the University of Kurdistan Hewler. It provides an overview of the module's content.

This paper presents an Explorative Reverse Engineering (ERE) framework for the analysis and reverse-engineering of unmanned aerial vehicles (UAV). The framework is based on the life cycle theory and customized for the re-engineering of UAVs. It starts by identifying the UAVs' subsystems and key components, analyzing their functions, and exploring o...

This paper presents for the first time a mathematical model for evaluating the Planned Kurdistan Regional Power System (KRPS) for its ability to maintain stability under small disturbances and fluctuations during normal operating conditions. To achieve this objective, practical field data, manufacture's datasheets, related IEEE task force reports h...

IT Service Management (ITSM) is defined as a collection of processes, documentation, and practices required to manage Information Technology (IT) services effectively. Different frameworks based on industry best practices are available in the literature for designing and building an ITSM system, with the Information Technology Infrastructure Librar...

Vaccination has long been recognized as the most effective means for disease prevention, yet concerns have raised globally regarding possible side effects. These concerns were very serious with the COVID-19 vaccines due to the accelerated development process, which did not follow the traditional vaccine lifecycle. This paper attempts to address the...

This dataset presents diabetes data in Erbil, Kurdistan Region of Iraq. It was collected from individuals referred by expert physicians for diabetes-related tests, following suspicions of the disease. The tests were conducted by highly trained professionals in a private laboratory in Erbil. The dataset includes 14 features across 661 observations....

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design...

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable. To perf...

This paper studies the equilibrium formulation of a three degree of freedom planar compliant platform mechanism, which is in contact with a solid body in its environment. The mechanism includes two platforms, which are connected in parallel by three linear springs. The capability of deformation by manipulating both platforms exceptionally complicat...

Salahaddin University's Conference On Engineering

The COVID-19 pandemic has introduced substantial challenges to individuals, communities, and healthcare systems worldwide. While initial responses primarily addressed the acute impact of the virus, emerging evidence highlights a noteworthy portion of individuals grappling with persistent symptoms even after recuperating from the acute phase. This r...

ITSM Module at UKH, Ch.7, Fall semester, 2023.

Robotics, Salahaddin University-Erbil, Ch.6, Fall semester, 2023.

The International Engineering Conference of Salahaddin University-Erbil, 30-31 October 2024.

The COVID-19 pandemic has introduced substantial challenges to individuals, communities, and healthcare systems worldwide. While initial responses primarily addressed the acute impact of the virus, emerging evidence highlights a noteworthy portion of individuals grappling with persistent symptoms even after recuperating from the acute phase. This r...

The significance of discrete neural models lies in their mathematical simplicity and computational ease. This research focuses on enhancing a neural map model by incorporating a hyperbolic tangent-based memristor. The study extensively explores the impact of magnetic induction strength on the model's dynamics, analyzing bifurcation diagrams and the...

This paper details a framework for designing appropriate hybrid power supply system for a tiny and remote off-grid rural locations. A combination of Solar PV/Wind turbine/Diesel generator have been simulated and tested in different cases. The optimization program 'Hybrid Optimization Model for Electric Renewables' HOMER is utilized in this study to...

Software Architecture and Design, Chapter 3: Modeling

Recently, the researches have focused on the models that can simulate all the internal and external activities of neurons. The exchange of ions such as calcium, sodium, and potassium across the cell membrane induces a time-varying magnetic field, resulting in the construction of an electric field. This paper proposes an improved neuron model by con...

The simplest megastable chaotic system is built by employing a piecewise-linear damping function which is periodic over the spatial domain. The unforced oscillator generates an infinite number of nested limit cycles with constant distances whose strength of attraction decreases gradually as moving to outer ones. The attractors and the basins of att...

HCI presentation, Mobile UX Design

Dark Pattern, HCI

Robotics, Ch.1: Introduction

Smartphones are used for many daily activities like tele-communication, gaming, web browsing, fitness and health monitoring and traditional office working. Smartphones are equipped with built-in sensors to be able to perform these activities. It is well known that the sensors affect the resolution of the smartphone applications which is very vital...

Cell development from an undifferentiated stem cell to a differentiated one is essential in forming an organism. In this paper, various bifurcations of a stem cell during this process are studied using a model based on Furusawa and Kaneko’s hypothesis. Furusawa and Kaneko’s hypothesis tells that the gene expression of stem cells is chaotic. By deve...

Nowadays, simulators are being used more and more during the development of robotic systems due to the efficiency of the development and testing processes of such applications. Undoubtedly, these simulators save time, resources and costs, as well as enable ease of demonstrations of the system. Specifically, tools like the open source Robotic Operat...

p class="0abstractCxSpFirst">The number of applications incorporating Internet of Things (IoT) concepts increases extraordinarily. This increase cannot continue without high-quality assurance. There are some difficulties in testing IoT applications; the system heterogeneity, test cost and time are taken to test the system, and the precision percent...

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable. To perf...

Abstract Autonomous Mobile Robotics (AMR) is the trend in the fourth industrial revolution. Unmanned vehicles, autonomous underwater vehicles, landfill multi robots, searching and exploration rovers and drone swarms are examples of recently incorporated AMR to the field for the purpose of enhancing the quality and performance of workload. In roboti...

The Internet of things (IoT) is growing at a fast pace owing to its vast applications in varied fields such as medicine, society, economy, and even the military. This growth cannot continue without establishing high quality. Over the past decade, interest in research for the quality assurance of IoT has gradually grown. However, the discipline is s...

Developing Fundamental PLC Wiring & Ladder Logic Programs

This paper is concerned with the synchronization of two coupled hyperbolic-type Hopfield neural networks with a memristive synaptic connection. The results show that the coupling with no time-delay cannot lead to complete synchronization and increasing the coupling strength causes anti-phase synchronization. While adding time-delays to the coupling...

Coexistence of attractors with different or same type, multistability, is a complex behavior in nonlinear systems. This feature makes these systems applicable but difficult to control. Besides multistability, some new systems show megastability, existence of infinite number of coexisting attractors. In this paper, two simple megastable systems are...

In this paper, a new two-dimensional nonlinear oscillator with an unusual sequence of rational and irrational parameters is introduced. This oscillator has endless coexisting limit cycles, which make it a megastable dynamical system. By periodically forcing this system, a new system is designed which is capable of exhibiting an infinite number of c...

Chapter 7: Robotics, Path planning

This research seeks to obtain comprehensive information regarding the relative orientation of two rigid bodies that have a common point. The study aims to acquire the results through focusing on information from the instantaneous sensor measurements only. Additionally, the study intends to use achieve its goals by using data obtained from Three 3 a...

A memristor diode bridge chaotic circuit is proposed in this paper. The proposed oscillator has only one nonlinear element in the form of memristor. Dynamical properties of the proposed oscillator are investigated. The fractional order model of the oscillator is designed using Grünwald–Letnikov (GL) method. Bifurcation diagrams are plotted which sh...

The modern CPU technology scaling with increasing transistor density causes an exponential growth of both dynamic and static power dissipations that affecting the microprocessor’s performance. The body bias voltage (VBB) and supply voltage (VDD) extent to decrease to maintain the low power requirements. Joint body biasing and voltage scaling is an...

State Space analysis of LTI systems

Time domain analysis of LTI systems.

Human Computer Interaction, module

Lecture slides on HCI for the UGIII level at UKH.

Lecture slides about Actuators and Joint Control

Lecture Slides, University of Kurdistan-Hewler

Robotic's Forward Kinematics

Chapter 4, ITSM module, University of Kurdistan-Hewler

Robotic Systems, Chapter 3, MSc program in Computer Engineering, University of Kurdistan-Hewler

Every phenomenon in the universe has two domains, physical and mathematical. Building mathematical model for these phenomenon helps to find unexpected behaviors. The seminar highlights history and contemporary achievements of the problem.

In the design of modern processors, power and thermal management have become prominent issues of portable computer systems. Dynamic threshold voltage scaling (DTVS) is an effective low-power design technique for reducing the dissipated power. The technique adjusts the body bias voltage (VBB) and, correspondingly, the threshold voltage (Vth) adaptiv...

کۆنترۆڵکردنی ڕاگەیاندن

ئەو ڕۆڵەی کە ڕاگەیاندن لە سیاسەتی هاوچەرخ دەیگێڕێت وامان لێدەکات کە بپرسین ئایا ئێمە دەمانەوێت لە چ جیهانێک و لە چۆن کۆمەڵگایەك بژین، هێشتا تایبەتتر، دەخوازین بە چ شێوە دیموکراسیەک کۆمەڵگایەکی دیموکراتیک بێ؟ با من لێرە بە خستنەڕووی دوو تێگەیشتن لە دیموکراسی دەسپێبکەم. یەکێک لە تێگەیشتنەکان لە دیموکراسی بریتیە لەوەی کە کۆمەڵگای دیموکراتیک ئەو کۆمەڵگ...

An Introductory video about the College of Engineering at Salahaddin University-Erbil

Abstract: The rapid growth in microprocessor’s performance increases the power consumption significantly, resulting in rising microprocessor and system temperatures. High temperatures and eminent thermal variations of processors create severe challenges in system reliability, and cooling costs. Therefore, power and thermal management have become pr...

A seminar presented to the The Socialist Youth of Germany – The Falcons in Karlsruhe, Germany, July 2017.

South Kurdistan at a Glance, A presentation to The Socialist Youth of Germany – The Falcons, Karlsruhe, germany, 2017

Power dissipation is a dominant aspect that limits the performance of microprocessors. In this work adaptive supply and body voltage control is used by applying optimum Vdd and NMOS-PMOS body bias voltages (VBB-N & VBB-P) to the microprocessor unit, which compensate the threshold voltage and clock frequency for ultra-low power design. SPICE simulat...

Measuring human body kinematics using inertial measurement unit (IMU) has increased in popularity as its flexibility, cheap and ease of use, compared to alternative strategies. In this work estimation of Elbow joint angle was done in three directions based on 9 DOF Adafruit IMU and three ADXL-345 accelerometers. A special circuit board was designed...

The first international conference on Nations Under Genocide

A seminar presented to the new academic staff at Salahaddin University-Erbil, Feb 2017

Speech at ICEIT2016 conference.

A lecture at the Student’s Club at the College of Basic Education, some memorials about computer education and IT industry in Kurdistan.

Plenary speaker presentation at ICE2016

This paper introduces an optimization approach for association rule mining in the time-memory domain. The approach splits the running mode of the traditional data mining algorithm into two phases. The first phase is designed to calculate all item sets in every transaction together with their frequencies (without pruning) and indexes their accumulat...

basically, the computer-based face recognition area is very challenging, especially when it comes to recognizing objects and images under different illumination conditions. One effective way to solve this problem is to examine the extent to which features remain available for extraction in differing illumination conditions. This paper studies the e...

A Seminar presented at Monash University (Australia). It is an introduction about Salahaddin University, its structure, partnership programs, achivements

This paper introduces an optimization approach for association rule mining in the time-memory domain. The approach splits the running mode of the traditional data mining algorithm into two phases. The first phase is designed to calculate all item sets in every transaction together with their frequencies (without pruning) and indexes their accumulat...

Accepted to be presented at ITA15

A general overview of Salahaddin University-Erbil.

This paper presents for the first time a mathematical model for evaluating the Planned Kurdistan Regional Power System (KRPS) for its ability to maintain stability under small disturbances and fluctuations during normal operating conditions. To achieve this objective, practical field data, manufacture's datasheets, related IEEE task force reports h...

The Global System for Mobile communication (GSM) is now worldwide-accepted standard for digital cellular systems. With the increasing of GSM popularity, customers are expecting a high level of service, from which availability is considered the major measure of quality. The availability block diagram model is selected to model the system, taking int...

A systematic procedure for modeling and simulation of the recently connected Perdawd combined cycle gas station (CCGS) to the Kurdistan Regional Power System (KRPS) of Iraq is presented in this paper. For simulation purpose, models for the station's synchronous generator, exciter system and the combined gas turbine are developed in MATLAB ® /Simuli...

Today, almost every country is going for the restructuring of the power system. The concept of restructuring of the power system assumes the availability of both the system operating point and historical information, almost at every minute. This implies that there is a need to create a centralized database for the power system which is subjected t...

This paper presents the application of neural network technique to small signal stability prediction in the Iraqi power system. In this study, the Iraqi power system has been divided into nine areas based on the geographical generation distribution and the low frequency oscillations experienced during the steady state operation. Using off-line data...

In Electrical Energy Industry, rising costs due to inflation and increased environmental concerns has made power systems to be operated closer to design limits. Hence power system small signal stability is emerging as major problem in the day-to-day operation of stressed power systems. For secure operation and control of power systems under normal...

To make a dynamic system small-signal stable, we should choose system parameters such that changes in system state variables due to small disturbances die out quickly. Thus, we need to know how changes in the system parameters affect the linearized system's eigenvalues, i.e. the eigenvalue sensitivities. In this paper a methodology has been introdu...

This paper presents a methodology for power and energy reduction in general purpose microprocessors, which is known as dynamic voltage frequency scaling (DVFS). The DVFS technique can be considered as an effective mechanism for reducing processor power and energy. In the last decade a lot of works have been done during the hardware and software imp...

The world is becoming more dependent on Information Technology, but the ability of network infrastructures to handle the growing demand is questionable. This paper studies the infrastructure needed to provide the basic Information Exchange services from the reliability point of view. These concepts are applied to the newly installed ICT infrastruct...