Garuda - Garba Rujukan Digital

Modiﬁed power rate sliding mode control for robot manipulator based on particle swarm optimization Saif Sinan; Raouf Fareh; Sadeque Hamdan; Maarouf Saad; Maamar Bettayeb
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp168-180

This work suggests an optimized improved power rate sliding mode control (PRSMC) to control a 4-degrees of freedom (DOF) manipulator in joint space as well as workspace. The proposed sliding mode control (SMC) aims to improve the reaching mode and to employ an optimization method to tune the control parameters that operate the robotic manipulator adaptively. Inverse kinematics is used to obtain the joint desired angles from the end effector desired position, while forward kinematics is used to obtain the real Cartesian position and orientation of the end effector from the real joint angles. The proposed enhancements to the SMC involve the use of the hyperbolic tangent function in the control law to improve the reaching mode. Added to that, particle swarm optimization (PSO) is used to tune the parameters of the improved SMC. Furthermore, the Lyapunov function is utilized to analyze the stability of the closed-loop system. The proposed enhanced sliding mode combined with the optimization method is applied experimentally on a 4-DOF manipulator to prove the feasibility and efﬁciency of the proposed controller. Finally, the performance of the suggested control scheme is compared with the conventional power rate SMC in order to demonstrate the enhanced performance of the suggested method.

Estimating one-diode-PV model using autonomous groups particle swarm optimization Mohammad AlShabi; Chaouki Ghenai; Maamar Bettayeb; Fahad Faraz Ahmad
IAES International Journal of Artificial Intelligence (IJ-AI) Vol 10, No 1: March 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijai.v10.i1.pp166-174

In this paper, the one-diode model of a photovoltaic PV solar cell (PVSC) is estimated for an experimental characteristic curves data by using a recently proposed version of the Particle Swarm Optimization (PSO) algorithm, which is known as the Autonomous Groups Particles Swarm Optimization (PSOAG). This meta-heuristic algorithm is used to identify the model of the PVSC. The PSOAG divides the particles into groups and then, uses different functions to tune the social and cognitive parameters of these groups. This is done to show the individuals’ diversity inside the swarm. Although, these individuals do their duties as part of the society, they are not similar in terms of intelligence and ability. By using these groups, the performance of the PSO is improved in terms of convergence rate and escaping the local minima/maxima. Six versions of PSOAG algorithms were developed in this work. Therefore, nine versions of PSOAG, including these six algorithms and three newly developed PSOAG reported previously, will be used in this research to cover more social’s behaviors. The results are compared to the original PSO and other versions of PSO like conventional and Asymmetric Time-varying Accelerated Coefficient PSOs, and the improved PSO. The result shows that the proposed methods improve the performance by up to 14% in terms of root mean squared error and maximum absolute error, and by up to 20% in term of convergence rate, when these were compared to the best results obtained from the other algorithms.

Estimating PV models using multi-group salp swarm algorithm Mohammad Al-Shabi; Chaouki Ghenai; Maamar Bettayeb; Fahad Faraz Ahmad; Mamdouh El Haj Assad
IAES International Journal of Artificial Intelligence (IJ-AI) Vol 10, No 2: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijai.v10.i2.pp398-406

In this paper, a multi-group salp swarm algorithm (MGSSA) is presented for estimating the photovoltaic (PV) solar cell models. The SSA is a metaheuristic technique that mimics the social behavior of the salp. The salps work in a group that follow a certain leader. The leader approaches the food source and the rest follows it, hence resulting in slow convergence of SSA toward the solution. For several groups, the searching mechanism is going to be improved. In this work, a recently developed algorithm based on several salp groups is implemented to estimate the single-, double-, triple-, Quadruple-, and Quintuple-diode models of a PV solar cell. Six versions of MGSSA algorithms are developed with different chain numbers; one, two, four, six, eight and half number of the salps. The results are compared to the regular particle swarm optimization (PSO) and some of its newly developed forms. The results show that MGSSA has a faster convergence rate, and shorter settling time than SSA. Similar to the inspired actual salp chain, the leader is the most important member in the chain; the rest has less significant effect on the algorithm. Therefore, it is highly recommended to increase the number of leaders and reduce the chain length. Increasing the number of leaders (number of groups) can reduce the root mean squared error (RMSE) and maximum absolute error (MAE) by 50% of its value.

Water Conservation and Management Practices at the University of Sharjah to Achieve Sustainability Excellence Mohsin Siddique; Lucy Semerjian; Maamar Bettayeb; Zaid A. Al-Sadoon; Bushra Hussein Al Jaberi; Fatma Eltarabishi; Shahd Ibrahim AlSane
Journal of Sustainability Perspectives Vol 1, No 2: December 2021
Publisher : Universitas Diponegoro

The University of Sharjah is a leading educational and research institution in the Gulf region. To stimulate the different aspects of sustainability in education and research as well as to ensure the implementation of sustainability concepts throughout the University campus operations, the concept of sustainability circles is implemented. The University being in hot-arid-zone and mostly surrounded by desert terrain relies on unconventional water conservation programs and initiatives such as the use of innovation & technology, reuse and recycling of water, and awareness campaigns. In line with such programs, the use of potable water is limited for hygiene purposes and wastewater generated within the University is reused after treatment to irrigate the vast green spaces through the most efficient irrigation water application systems. Examples of water conservation practices include use of efficient water devices, reuse of treated greywater for toilet flushing at a selected location, water quality monitoring, preservation to conserve water for its intended use, promoting waterless car wash on the campus grounds etc. On-campus water is also conserved through disseminating knowledge and awareness to the University community and beyond through various sustainability related programs and initiatives organized by Sustainability Office for water conservation and environmental protection.

Managing University of Sharjah Setting and Infrastructure Towards a Sustainable and Livable Campus Emad Mushtaha; Imad Alsyouf; Maamar Bettayeb; Bushra Hussein Al Jaberi; Maryam Al Mallahi
Journal of Sustainability Perspectives Vol 2, No 2: Desember 2022
Publisher : Universitas Diponegoro

This paper describes the setting and infrastructure management at the University of Sharjah (UoS) as a continuous effort towards a livable and sustainable campus. The UoS has been participating in the UI GreenMetric World Universities Ranking (UIGWUR) since 2017 to measure its performance in the field of sustainability for continuous improvement. During the last three years, the UoS has succeeded in being among the best 150 universities in the SI category by achieving 70% of the score. However, the UoS managed to get 75% of the total score in this KPI and 100% in the open space per person KPI ratio. To become one of the leading universities, the Landscape and Building Management Sustainability Circle (LBMSC) at the Sustainability Office has analyzed the KPIs and suggested an action plan for continuous improvement. Two KPIs can be improved: sustainability efforts and the total area covered in plants. The UoS shall increase the sustainability efforts and budget and increase the internal and external planting in the coming years. For some KPIs, it cannot be applied to desert regions. It is recommended that the UIGWUR revisit its KPIs and make them more flexible and applicable worldwide. Furthermore, for the open space ratio to the total area KPI, it is recommended to revisit the distribution of the points to have fair comparison. Action plans to improve the sustainability and livability of the campus have also been addressed.Keyword: Setting and infrastructure, LBMSC, livable campus, open area, forest, water absorption, green area, sustainability efforts/budget, and GreenMetric

Managing University of Sharjah Setting and Infrastructure Towards a Sustainable and Livable Campus Emad Mushtaha; Imad Alsyouf; Maamar Bettayeb; Bushra Hussein Al Jaberi; Maryam Al Mallahi
Journal of Sustainability Perspectives Vol 2, No 2: Desember 2022
Publisher : Universitas Diponegoro

This paper describes the setting and infrastructure management at the University of Sharjah (UoS) as a continuous effort towards a livable and sustainable campus. The UoS has been participating in the UI GreenMetric World Universities Ranking (UIGWUR) since 2017 to measure its performance in the field of sustainability for continuous improvement. During the last three years, the UoS has succeeded in being among the best 150 universities in the SI category by achieving 70% of the score. However, the UoS managed to get 75% of the total score in this KPI and 100% in the open space per person KPI ratio. To become one of the leading universities, the Landscape and Building Management Sustainability Circle (LBMSC) at the Sustainability Office has analyzed the KPIs and suggested an action plan for continuous improvement. Two KPIs can be improved: sustainability efforts and the total area covered in plants. The UoS shall increase the sustainability efforts and budget and increase the internal and external planting in the coming years. For some KPIs, it cannot be applied to desert regions. It is recommended that the UIGWUR revisit its KPIs and make them more flexible and applicable worldwide. Furthermore, for the open space ratio to the total area KPI, it is recommended to revisit the distribution of the points to have fair comparison. Action plans to improve the sustainability and livability of the campus have also been addressed.Keyword: Setting and infrastructure, LBMSC, livable campus, open area, forest, water absorption, green area, sustainability efforts/budget, and GreenMetric

Water Conservation and Management Practices at the University of Sharjah to Achieve Sustainability Excellence Mohsin Siddique; Lucy Semerjian; Maamar Bettayeb; Zaid A. Al-Sadoon; Bushra Hussein Al Jaberi; Fatma Eltarabishi; Shahd Ibrahim AlSane
Journal of Sustainability Perspectives Vol 1, No 2: December 2021
Publisher : Universitas Diponegoro

The University of Sharjah is a leading educational and research institution in the Gulf region. To stimulate the different aspects of sustainability in education and research as well as to ensure the implementation of sustainability concepts throughout the University campus operations, the concept of sustainability circles is implemented. The University being in hot-arid-zone and mostly surrounded by desert terrain relies on unconventional water conservation programs and initiatives such as the use of innovation & technology, reuse and recycling of water, and awareness campaigns. In line with such programs, the use of potable water is limited for hygiene purposes and wastewater generated within the University is reused after treatment to irrigate the vast green spaces through the most efficient irrigation water application systems. Examples of water conservation practices include use of efficient water devices, reuse of treated greywater for toilet flushing at a selected location, water quality monitoring, preservation to conserve water for its intended use, promoting waterless car wash on the campus grounds etc. On-campus water is also conserved through disseminating knowledge and awareness to the University community and beyond through various sustainability related programs and initiatives organized by Sustainability Office for water conservation and environmental protection.

Title

Found 7 Documents
Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title Search

Found 7 Documents Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title

Found 7 Documents
Search