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All Journal Indonesian Journal of Science and Technology
Abdulkareem Sh. Mahdi Al-Obaidi
Taylor’s University
Computer Science & IT Environmental Science

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Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO Nasir Ahmed Alawad; Amjad J. Humaidi; Abdulkareem Sh. Mahdi Al-Obaidi; Ahmed Sabah Alaraji
Indonesian Journal of Science and Technology Vol 7, No 2 (2022): IJOST: VOLUME 7, ISSUE 2, September 2022
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v7i2.46435

Abstract

Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.
Design of Robust Control for Vehicle Steer-by-Wire System Suha S. Husain; Mina Qays Kadhim; Abdulkareem Sh. Mahdi Al-Obaidi; Alaq F. Hasan; Amjad J. Humaidi; Dwi Novia Al Husaeni
Indonesian Journal of Science and Technology Vol 8, No 2 (2023): (ONLINE FIRST) IJOST: September 2023
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v8i2.54794

Abstract

This study presented the design of a robust controller based on Integral Sliding Mode Control (ISMC) for controlling the Vehicle Steer-by-Wire (VSbW) system. The dynamic model of the VSbW system is first developed and then the design of ISMC has been conducted via the states of the system. The VSbW system has been described by two terms; one term represents the nominal model, which is free from nonlinearities, and the other term lumps the uncertainties in system parameters. The integral sliding mode controller has been designed for controlling the VSbW system. The control design consists of two parts. The first control part has addressed the nominal term of the system, while the second control part tackles and eliminates the effects of uncertainties and perturbation due to the uncertain term of the system. The numerical simulation has been conducted to show the robustness of ISMC and its capability to reduce the chattering effect in the control signal. In addition, a comparison study in performance has been conducted between the proposed controller and other controllers in the literature. We also carry out bibliometric analysis to see research trends. Based on our analysis, the number of publications regarding the keywords "controller", "steer", and "wire system" changes every year (25 (2018), 56 (2019), 51 (2020), 71 (2021), and 61 (2022)).
Finite-Time Control of Wing-Rock Motion for Delta Wing Aircraft Based on Whale-Optimization Algorithm Arif A. Al-Qassar; Abdulkareem Sh. Mahdi Al-Obaidi; Alaq F. Hasan; Amjad J. Humaidi; Ahmed R. Nasser; Ahmed Alkhayyat; Ibraheem Kasim Ibraheem
Indonesian Journal of Science and Technology Vol 6, No 3 (2021): IJOST: VOLUME 6, ISSUE 3, December 2021
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v6i3.37922

Abstract

The rise of wing-rock motion in delta-wing aircraft has an adverse effect on the manoeuvrability of aircraft and it may result in its crash. This study presents a finite-time control design to tackle the dynamic motion due to the Wing-Rock effect in delta-wing aircraft. The control design is developed based on the methodology of Super Twisting Sliding Mode Control (STSMC). The Lyapunov stability analysis has been pursued to ensure asymptotic convergence of errors and to determine the finite time. The design of STSMC leads to the appearance of design parameters, which have a direct impact on the dynamic performance of the controlled system. To avoid the conventional tuning of these parameters and to have an optimal performance of the proposed controller, a modern optimization technique has been proposed based on Wale Optimization Algorithm. A comparison study between optimal and non-optimal finite-time super twisting sliding mode controllers has been established and their effectiveness has been verified via numerical simulation using MATLAB programming format.
Aerodynamic Performance of Vertical and Horizontal Axis Wind Turbines: A Comparison Review Hesam Eftekhari; Abdulkareem Sh. Mahdi Al-Obaidi; Shahrooz Eftekhari
Indonesian Journal of Science and Technology Vol 7, No 1 (2022): IJOST: VOLUME 7, ISSUE 1, April 2022
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v7i1.43161

Abstract

The need for energy and electricity has been increasing globally, and this means more power is required from the power plants. Power plants, however, will then continue harming the earth because of the greenhouse gasses produced while generating energies that contribute to global warming. Using renewable sources to produce clean energies is one of the sustainable methods to deal with such challenges. Wind energy is one of the renewable sources, which is accessible anywhere on earth, creating green energy. Wind turbines are mainly categorized into Horizontal Axis Wind Turbines (HAWT) and Vertical Axis Wind Turbines (VAWT). This paper firstly presents a general comparison between the HAWTs and VAWTs. Then, it presents mathematical modelling for the aerodynamic factors of HAWT and Darrieus VAWT to assist the researchers to understand some key design aspects of wind turbines, such as lift/drag ratio, tip speed ratio, power coefficient, and torque coefficient. Also, this paper presents a review of the aerodynamic performance of the recent VAWT designs to help researchers to identify and choose the best model among the Savonius and Darrieus rotors for further development or designing a new model at different wind conditions. This comparison review shows that for a large scale HAWT upwind 3 bladed wind turbines are the most optimum. The helical Savonius rotors perform better by having positive torque coefficient at all azimuth angles. Moreover, helical Darrieus was found to produce lesser noise and suitable for conventional areas. hybrid Savonius-Darrieus rotors can solve the self-starting challenge of the VAWTs, and they are suitable at low wind speeds. At last, this review shows some of the recent hybrid Savonius-Darrieus rotors which would help to solve the low efficiency of Savonius rotor and self-starting challenge of Darrieus rotors.
Embedded Design and Implementation of Mobile Robot for Surveillance Applications Abdulkareem Sh. Mahdi Al-Obaidi; Arif Al-Qassar; Ahmed R. Nasser; Ahmed Alkhayyat; Amjad J. Humaidi; Ibraheem K. Ibraheem
Indonesian Journal of Science and Technology Vol 6, No 2 (2021): IJOST: VOLUME 6, ISSUE 2, September 2021
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v6i2.36275

Abstract

The surveillance and security of areas such as home, laboratory, office, factory, and airports, are important to prevent any threatening to human lives. Mobile robots are proven their effectiveness in a large number of applications, especially in hazardous areas where they can be remotely controlled by humans to accomplish certain tasks. This research paper presents a design and implementation of a mobile robot for surveillance and security applications. The main objective of the design is to lower the cost and the power consumption of the mobile robot which accomplish using low-cost open-source hardware such as Arduino and Raspberry Pi. The robot is connected wirelessly via a low-power ZigBee module to the control station to allow the operator for controlling the mobile robot motions and monitoring the physical events in the environment where the robot is used.  Sensors such as camera, temperature, and range are embedded in the robot to sense and monitor human motion, the room temperature, and the distance of the surrounding obstacles. The testing of the implemented mobile robot shows that it can run continuously for approximately 6.5 hours at a motor shaft speed 25 rpm of unlit the need to recharge the battery.
A Conceptual Curriculum Design Approach for Educating Engineers of and for the Future Satesh Namasivayam; Abdulkareem Sh. Mahdi Al-Obaidi; Mohammad Hosseini Fouladi
Indonesian Journal of Science and Technology Vol 8, No 3 (2023): (ONLINE FIRST) IJOST: December 2023
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v8i3.59580

Abstract

The 4th Industrial Revolution (I4) highlights the demand for engineers equipped with technical expertise, emotional intelligence, communication, leadership, and critical thinking skills to navigate the complexities of modern engineering. This conceptual paper presents a future-oriented approach to engineering curriculum development, emphasizing the adoption of Outcome-Based Education (OBE) and project-based learning. The integration of key frameworks, such as the Conceive Design Implement Operate (CDIO) model and blended learning techniques, enhance the learning experience. The curriculum aims to align with global goals, including the UN Sustainable Development Goals and the 14 Grand Challenges for Engineering. An innovative curriculum is designed to inspire students' passion for engineering and engage them with emerging technologies, such as additive manufacturing and artificial intelligence. By equipping graduates with the necessary skills and knowledge, this curriculum strives to make a significant impact on society, fostering sustainability and addressing complex engineering challenges. This paper contributes to the field of engineering education by providing a comprehensive and forward-thinking approach to curriculum development.
Co-Authors Ahmed Alkhayyat Ahmed R. Nasser Ahmed Sabah Alaraji Alaq F. Hasan Alaq F. Hasan Amjad J. Humaidi Amjad J. Humaidi Arif A. Al-Qassar Arif Al-Qassar Dwi Novia Al Husaeni Hesam Eftekhari Ibraheem K. Ibraheem Ibraheem Kasim Ibraheem Mina Qays Kadhim Mohammad Hosseini Fouladi Nasir Ahmed Alawad Satesh Namasivayam Shahrooz Eftekhari Suha S. Husain