Print ISSN: 1814-6120

Online ISSN: 2311-8385

Volume 16, Issue 1

Volume 16, Issue 1, Spring 2016, Page 1-72

Implementation and Design of Fuzzy Supervisory Controller for Mobile Robot Manipulator

Ramzy S. Ali; Ammar A. Aldair; Ali K. Almousawi

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 1-7

The Mobile Manipulator Robot (MMR) has many
applications in different aspects of the life, for example,
grasping and transporting, mining, military, manufacturing,
construction, and others. The benefits of MMR rise in a dangerous place where the human cannot reach such as
disaster areas and dangerous projects sites. In this work, the
PID controller is combined with Fuzzy Logic Controller (FLC)
to structure the Fuzzy Supervisory Controller (FSC) to
overcome the drawbacks of PID controller and to obtain the
advantages of FLC. Two approaches are suggested for the
navigation of Autonomous Mobile Robot (AMR). These are;
goal reaching fuzzy control (GRFC) and the obstacle avoidance
fuzzy control (OAFC). The hardware implementation of the
AMR is performed using AVR ATmega32 microcontroller, two
DC motors, light dependent resistor (LDR) and five Infra Red
sensors. While the Laboratory robot arm with some
fabrications is used as manipulator's arm with a five degrees-of-freedom. Then a microcontroller is employed to implement the
proposed controller for MMR. The designed MMR is tested in
real environments and give a good navigation.

Adaptive Control-based synchronization of chaotic systems with uncertain parameters and its application

Ola Jabbar Hussain; Fadhil Rahma Tahir

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 8-14

This paper is concerned with performance on the
widely used control technique: adaptive control for
synchronization between two identical chaotic systems
embedded in the Master and Slave. It is assumed that the
parameters of slave system are unknown. The required stability
condition is derived to ensure the stability of error dynamics.
Adaptive control laws are designed using appropriate
parameters estimation law. The system parameters are
asymptotically synchronized; thus the slave parameters can be
identified. As an application, the proposed scheme is applied to
secure communication system. The information signal is
transmitted and recovered on the basis of identification
parameters also the system is tested under the consideration of
the noisy channel. Finally, through Numerical simulation
results, the proposed scheme was a success in the communication

Effect of Loading Level and Span Length on Critical Buckling Load

Marwah A. Mohsen; Abdalnassre M. Abbas; Ahmed S. Saadoon

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 15-21

An investigation was conducted to study the effect of
loading level with respect to shear center and span length on
lateral torsional buckling of steel I-section beams using linear
and nonlinear finite element analysis available in ANSYS
(version 12.0) computer program. The steel beams which have
been studied included prismatic beams and linearly web tapered beams with web tapering ratio of (0.5). The maximum
height of all beams was 300 mm with span length of 4, 6 and 8
m. The critical buckling loads for prismatic and linearly
tapered cantilever and simply supported beams subjected to
point load and uniformly distributed load were determined.
The results showed that the bottom flange loading gives a
buckling loads higher than that of the top flange loading with
percentage increases of 148% and 155% for the linear and
nonlinear analysis respectively for the prismatic beams. While
for the tapered beams, these percentages increases were 61%
and 67% respectively

Nonlinear finite element analysis of simply supported composite beams stiffened with steel channel

Alyaa H. Khalaf; Abdalnassre M. Abbas

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 22-27

A composite beam is an accumulation of different
materials so as to form a single unit to exploit the prominent
quality of these materials according to their position within the
cross-section of the composite beam. The present study
investigates the structural behavior of six simply supported
composite beams, in which a reinforced concrete T-beam is
connected together with a steel channel located at the bottom
of a T-beam by means of headed stud shear connectors. The
used degrees of shear connection are (100%, 75%, 50%, and
38%). Three dimensional nonlinear finite element analysis has
been used to conduct the numerical investigation for the
general behavior of beams which are subjected to central point
load. ANSYS 12.1 program code was used to estimate the
ultimate loads, deflections, stresses, strains, end slip. Concrete
was modeled by brick element (SOLID65), while the steel
channel was modeled as a brick element (SOLID45). Two-node
discrete elements (LINK8) are used to represent the steel
reinforcement and shear connectors. The perfect bond between the
reinforcing rebars and the concrete was assumed. The load on
beams was applied monotonically in increments up to failure.
The reduction of the degree of shear connection from 100% to
38% causes increasing of strain, mid-span deflection and end
slip with an average of 3.95%, 13%, and 111% respectively,
while the ultimate load decreases with an average of 7.3%. In
order to observe the efficiency of the 3-D model, a comparison
was made with available experimental work. Good agreement
was obtained throughout this work between the finite element
and available test results.

Simulation of Salinity Intrusion from Arabian Gulf to Shatt Al-Arab River

Ahmed Naseh Hamdan

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 28-32

This study is an attempt to determine the salinity
intrusion from Arabian Gulf to Shatt Al-Arab River. One
dimensional time-dependent hydrodynamics model coupled
with salinity model were applied and solved numerically by
using the explicit finite difference method, a computer
program was used to simulate the flow and the salinity
concentration. “Total tide” software has been used to get an
information about tide level in the day of field measurement,
field measurement of salinity and tide velocity in Al-Fao
Station was taken for a full tidal cycle and compared with the
program results shows a good agreement between field
measurement and numerical model results. Three sections
were taken along the Shatt Al-Arab River to study the effect of
salinity intrusion from the sea. It were found that the effect of
salinity intrusion from the sea, reach a distance of a few
kilometers upstream of Shatt Al-Arab mouth, but not farther
than Abadan region. It is found that the salinity increased
rapidly in the last of tidal period to a distance approximately
equal 50 km downstream of Karun river or 10 km upstream of
Al-Fao, and reach gradually to the salinity of the sea

Computerized Testing Machines to Study the Effect of Strain Rate on Mechanical Properties of CFRP

Jaafar Kh. Ali; Saleh I. Najim

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 33-37

In this paper, a universal testing machine and an
impact testing apparatus have been upgraded by using a high accuracy data acquisition and control system interfaced to a
personal computer with proper sensors and actuators. The
purpose of the upgrade is to increase the accuracy of the
measurements and to perform advanced material testing
procedures that are not possible with the old configuration.
The modernization process not only permits the accurate data
acquisition and convenient operation but also the ability to
study the effect of strain rate on the tensile properties of
materials. Also, an experimental study of the response of CFRP
(Carbon Fiber Reinforced Plastic) material to low and
intermediate strain rates has been carried out.

Empirical Formula for Estimation the Sediment Load in Shat AL-Gharaf River

Jaafar .S . Maatooq; Hassan. A. Omran; Haleem K. Aliwe

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 38-41

In this research, the sediment load in Shat AlGharaf River lies in the south of Iraq, has been studied.
Two empirical formulas those have been presented by ;
Bagnold and Van Rijn were adopted as a deterministic
equations for computing the sediment discharge in selected
reaches of the river . The application of these equations requires
to do different hydraulic, sediment, and geometric
measurements for the selected reaches. Accordingly ,
thirteen sections along the river within a study area have
been adopted. After analyzing the available data, a new
the formula for estimating the suspended sediment load in Shat
Al-Gharaf was developed, depending on the data for ten
sections of this river and by using SPSS program, the
determination coefficient of the new formula was (R2=0.94).
The validity of the established formula has been verified
using some well related (i.e., nearly the same hydraulics and
geometrical circumstances) of field data over the world was
selected from published literatures [8] these are: Colorado
river data of the U.S.B.R.(1958), River data from Leopold
(1969) , and India canal data of Chaudry As well
As those observed in the remaining three sections of present
River, the verification shows a good agreement.
The results of the adopted two formulas and the new formula
were compared with field measurements using Discrepancy
Ratio (bais) method. The suggested new formula gave the
best results where 50% of data located within a discrepancy
a ratio close to one and 30% of data located within an error
±20%, that is referred to suitability adoption this formula as a
the deterministic equation to estimate the sediment load in Shat
Al-Garaf river within a study reach

Prediction of Groundwater Level in Safwan-Zubair Area Using Artificial Neural Networks

Ali H. Al-Aboodi; Kifah M. Khudhair; Ali S. Al-Aidani

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 42-50

Safwan-Zubair area is regarded as one of the
important agricultural areas in Basrah province, South of Iraq.
The aim of this study is to predict groundwater level in this area
using ANNs model. The data required for building the ANN
model are generated using MODFLOW model (V.5.3).
MODFLOW model was calibrated based on field measurements
of groundwater level in13 monitoring wells during a period of
one year (Nov./2013 to Oct/2014). The neural network toolbox
available in MATLAB version 7.1 (2010B) was used to develop
the ANN models. Three layers feed-forward network with Log-sigmoid transfer function was used. The networks were trained
using Levenberg-Marquardt back-propagation algorithm. The
ANN modes are divided into two groups, each of four models.
The input data of the first group include hydraulic heads, while,
the input data of the second group include hydraulic heads and
recharge rates. Based on results of this study it was found that;
the best ANN model for predicting groundwater levels in the
study area is obtained when the input data includes hydraulic
heads and recharge rates of two successive months preceding the
target month, the best structure of ANN model is of three layers
feed-forward network type composes of two hidden layers, each
of ten nodes, and the including of recharge rates as input data,
beside the hydraulic heads has improved slightly the results.

Independent Control of Two-PMSM Fed by Two SVPWM Inverters with Fault Tolerant Operation

Ahmed J. Chasib; Ali K. Abdulabbas; Adel A. Obed

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 51-61

This paper presents an implementation of an
independent control of two-mechanically coupled Permanent
Magnet Synchronous Motor (PMSM) fed by two Space Vector
Pulse Width Modulation (SVPWM) inverters in a separate mode
and in the event of failure one leg of one inverter, fault tolerant
mode. In a fault tolerant mode, the two motors can operate in an
independent control strategy from one inverter with five legs to
maintain a constant output coupled torque. The Field Oriented
Control (FOC) strategy is used to control the stator current of the
two motors through two separate paths. Such application is used
in the field of a coupled torque produced by multi-motors such as
in subway applications. The whole system is simulated in Matlab
/Simulink and the simulated results show a stable and robustness
a system which can maintain a constant developed torque with a
velocity reaches to the rated under fault tolerant operation.

Best Arima Models for Forecasting Inflow of Hit Station

Adnan K. Shathir; Layla A. Mohammed Saleh

Basrah Journal for Engineering Science, Volume 16, Issue 1, Pages 62-72

Time series analysis for hydrological phenomena has
an important role in water resources engineering. In this study,
seven models of ARIMA family are tested for forecasting the
monthly discharge at Hit station on Euphrates river in Iraq. The
statistical analyses were done for models with help of IBM SPSS
statistics 21 software, The number of observations used is equal
to 480 reading, start from October 1932 and end at September
1972, this period represents the near-natural stream flow of the
river before the construction of dams in Syria and Turkey.
Statistical tests such as T-test and F-test were used to detect any
change in Mean and Variance at 95% significant probability
level. Results showed that the best model is (2,0,1)×(0,1,1)12
which gives a minimum error and good agreement between
observed and forecast discharge.