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Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

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Journal of Systems Engineering and Electronics 2024年第1期35卷 242-258页

作者： WASIM Muhammad ALI Ahsan CHOUDHRY Mohammad Ahmad SHAIKH inam Ul Hasan SALEEM Faisal Department of Aeronautics and Astronautics Engineering Institute of Space TechnologyIslamabad 44000Pakistan Department of Electrical Engineering University of Engineering and TechnologyTaxila 47080Pakistan Department of Measurements and Control Systems Silesian University of TechnologyGliwice 44-101Poland The Joint Doctoral School Silesian University of TechnologyGliwice 44-100Poland

The robotic airship can provide a promising aerostatic platform for many potential *** applications require a precise autonomous trajectory tracking control for *** has a nonlinear and uncertain *** is prone to wind disturbances that offer a challenge for a trajectory tracking control *** paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed *** uses extended Kalman filter(EKF)for uncertainty and disturbance *** estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory *** comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship *** proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model *** stability and convergence of the proposed method are investigated using the Lyapunov stability *** simulation results show that the proposed method efficiently tracks the desired *** method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

关键词： airship chattering extended Kalman filter(EKF) model uncertainties estimation sliding mode controller(SMC)

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Evaluating the Efficiency of CBAM-Resnet Using Malaysian Sign Language

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Computers, Materials & Continua 2022年第5期71卷 2755-2772页

作者： Rehman ullah khan Woei Sheng Wong Insaf ullah Fahad Algarni Muhammad inam Ul Haq Mohamad Hardyman bin Barawi Muhammad Asghar khan Faculty of Cognitive Sciences and Human Development Universiti Malaysia SarawakKuching94300Malaysia Hamdard Institute of Engineering and Technology Islamabad44000Pakistan College of Computing and Information Technology The University of BishaBisha61922Saudi Arabia Department of Computer Sciences Khushal Khan Khattak UniversityKarak27200Pakistan

The deaf-mutes population is constantly feeling helpless when others do not understand them and vice *** fill this gap,this study implements a CNN-based neural network,Convolutional Based Attention Module(CBAM),to recognise Malaysian Sign Language(MSL)in videos *** study has created 2071 videos for 19 dynamic *** different experiments were conducted for dynamic signs,using CBAM-3DResNet implementing‘Within Blocks’and‘Before Classifier’*** metrics such as the accuracy,loss,precision,recall,F1-score,confusion matrix,and training time were recorded to evaluate the models’*** showed that CBAM-ResNet models had good performances in videos recognition tasks,with recognition rates of over 90%with little ***‘Before Classifier’is more efficient than‘Within Blocks’models of *** experiment results indicated the CBAM-ResNet‘Before Classifier’efficiency in recognising Malaysian Sign Language and its worth of future research.

关键词： CBAM-ResNet malaysian sign language within blocks before classifier efficiency evaluation

A 37 GHz Millimeter-Wave Antenna Array for 5G Communication Terminals

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Computers, Materials & Continua 2023年第4期75卷 1317-1330页

作者： Jalal khan Sadiq ullah Usman Ali Ladislau Matekovits Farooq Ahmad Tahir Muhammad inam Abbasi Telecommunication Engineering Department University of Engineering and TechnologyMardan23200Pakistan Department of Electronics and Telecommunications Politecnico di TorinoTurin10129Italy Istituto di Elettronica e di Ingegneria Dell’Informazione e Delle Telecomunicazioni National Research Council of ItalyTurin10129Italy Department of Measurements and Optical Electronics Politehnica University TimisoaraTimisoara300006Romania Research Institute for Microwave and Millimeter-Wave Studies(RIMMS) National University of Sciences and Technology(NUST)Islamabad44000Pakistan Department of Electronics and Computer Engineering Technology(JTKEK) Faculty of Electrical and Electronic Engineering Technology(FTKEE)Universiti Teknikal Malaysia Melaka(UTeM)Hang Tuah JayaDurian TunggalMelaka76100Malaysia

This work presents,design and specific absorption rate(SAR)analysis of a 37GHz antenna,for 5th Generation(5G)*** proposed antenna comprises of 4-elements of rectangular patch and an even *** radiating element is composed of copper material supported by Rogers RT5880 substrate of thickness,0.254 mm,dielectric constant(εr),2.2,and loss tangent,*** 4-elements array antenna is compact in size with a dimension of 8mm×20mm in length and *** radiating patch is excited with a 50 ohms connector i.e.,*** antenna resonates in the frequency band of 37 GHz,that covers the 5G *** antenna behavior is studied both in free space and in the proximity of the human *** models of the human body,i.e.,belly,hand,and head(contain skin,fat,muscles,and bone)are considered for on-body *** resonant frequency,the antenna gives a boresight gain of 11.6 *** antenna radiates efficiently with a radiated efficiency of more than 90%.Also,it is observed that the antenna detunes to the lowest in the proximity of the human body,but still a good impedance matching is achieved considering the−10 dB ***,SAR is also being *** safe limit of 2 W/kg for any 10 g of biological tissue,specified by the European International Electro Technical Commission(IEC)has been *** calculated values of SAR for human body models,i.e.,belly,hand and head are 1.82,1.81 and 1.09 W/kg,*** SAR values are less than the international recommendations for the three ***,the simulated and measured results of the antenna are in close agreement,which makes it,a potential candidate for the fifth-generation smart phones and other handheld devices.

关键词： 5G antenna array SAR millimeter-wave smart phones

Extended Kalman Filter-based localization algorithm by edge computing in Wireless Sensor Networks

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Digital Communications and Networks 2021年第2期7卷 187-195页

作者： inam ullah Siyu Qian Zhixiang Deng Jong-Hyouk Lee College of Internet of Things(IoT)Engineering Hohai UniversityChangzhou Campus213022China Department of Computer and Information Security Sejong UniversitySeoul05006Republic of Korea

The Extended Kalman Filter(EKF)has received abundant attention with the growing demands for robotic *** EKF algorithm is more realistic in non-linear systems,which has an autonomous white noise in both the system and the estimation ***,in the field of engineering,most systems are ***,the EKF attracts more attention than the Kalman Filter(KF).In this paper,we propose an EKF-based localization algorithm by edge computing,and a mobile robot is used to update its location concerning the *** localization algorithm aims to achieve a high level of accuracy and wider *** proposed algorithm is helpful for the research related to the use of EKF localization *** results demonstrate that,under the situations presented in the paper,the proposed localization algorithm is more accurate compared with the current state-of-the-art localization algorithms.

关键词： Extended Kalman filter Edge computing Kalman filter Localization Robots State estimation

Difficulty-aware prior-guided hierarchical network for adaptive segmentation of breast tumors

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Science China(Information Sciences) 2023年第2期66卷 127-141页

作者： Sumaira HUSSAIN Xiaoming XI inam ullah Syeda Wajiha NAIM Kashif SHAHEED Cuihuan TIAN Yilong YIN School of Software Engineering Shandong University Department of Computer Science Sindh Madressatul Islam University School of Computer Science and Technology Shandong Jianzhu University School of Computer Science and Engineering South China University of Technology School of Medicine Shandong University Health Management Center Qilu Hospital of Shandong University

Breast tumor segmentation is vital to tumor detection at the early stages. Deep learning methods are typically used in automatic tumor segmentation tasks. However, in existing methods, the difference between pixels is disregarded, and the union network architecture is used to segment all pixels; these methods involve a tradeoff between accuracy and efficiency. A novel, difficulty-aware, prior-guided hierarchical network for the adaptive segmentation of breast tumors is presented herein. A difficulty prior learning module is proposed to learn the pixel’s difficulty prior to guild adaptive segmentation in the proposed network. To achieve a more accurate segmentation of hard pixels, a hard pixel processing unit is presented to learn more discriminative features for hard pixels. Experiments are conducted based on three datasets. The experimental results show that the proposed methods outperform traditional deep learning methods and achieve a balance between accuracy and efficiency.

关键词： breast tumor ultrasound image segmentation deep neural network difficulty-awareness

Autonomous Power Management for Interlinked AC-DC Microgrids

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CSEE Journal of Power and Energy Systems 2018年第1期4卷 11-18页

作者： inam ullah Nutkani Lasantha Meegahapola Loh Poh Chiang Andrew Frede Blaabjerg School of Engineering Royal Melbourne Institute of Technology(RMIT)Melbourne 3000Australia Department of Electronics Engineering The Chinese University of Hong KongShatinN.T.Hong KongChina Department of Energy Technology Aalborg UniversityAalborgDenmark

The existing power management schemes for interlinked AC-DC microgrids have several operational *** of the existing control schemes are designed with the main objective of sharing power among the interlinked microgrids based on their loading conditions,while other schemes regulate the voltage of the interlinked microgrids without considering the specific loading ***,the existing schemes cannot achieve both objectives *** address these issues,an autonomous power management scheme is proposed,which explicitly considers the specific loading condition of the DC microgrid before importing power from the interlinked AC *** strategy enables voltage regulation in the DC microgrid,and also reduces the number of converters in *** proposed scheme is fully autonomous while it retains the plug-nplay features for generators and *** performance of the proposed control scheme has been validated under different operating *** results demonstrate the effectiveness of the proposed scheme in managing the power deficit in the DC microgrid efficiently and autonomously while maintaining the better voltage regulation in the DC microgrid.

关键词： Autonomous control distributed control droop control hybrid microgrids interlinked microgrids power management

Adsorptive removal of phosphate by the bimetallic hydroxide nanocomposites embedded in pomegranate peel

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Journal of Environmental Sciences 2020年第5期32卷 189-198页

作者： Muhammad Akram Xing Xu Baoyu Gao Qinyan Yue Shang Yanan Rizwan khan Muhammad Ali inam Shandong Key Laboratory of Water Pollution Control and Resource Reuse School of Environmental Science and EngineeringShandong UniversityQingdao 266200China Department of Chemical Engineering Quaid-e-Awam University of EngineeringScience and Technology(QUEST)Naiuabshah 67480SindfiPakistan Institute of Environmental Sciences and Engineering(IESE) School of Civil and Environmental Engineering(SCEE)National University of Sciences and Technology(NUST)H-12 CampusIslamabad 44000Pakistan

This study aimed to fabricate new and effective material for the efficiency of phosphate *** types of adsorbent materials,the zirconium hydroxides embedded in pomegranate peel(Zr/Peel)and zirconium-lanthanum hydroxides embedded in pomegranate peel(Zr-La/Peel)were *** electronic microscopy(SEM),x-ray photoelectron spectroscopy(XPS)and x-ray diffraction(XRD)were evaluated to give insight into the physicochemical properties of these ***-La/Peel exceeded the adsorption efficiency of Zr/Peel adsorbents in batch adsorption experiments at the same pH *** peel as a host can strive to have a strong"shielding effect"to increase the steadiness of the entrenched Zr and La *** and Zr are hydroxide metals that emit many hydrogen ions during the hydrolysis reaction,which contribute to protonation and electrostatic *** highest adsorption capacity of La-Zr/Peel for phosphate was calculated to be40.21 mg/g,and pseudo second-order equation is very well fitted for kinetic *** adsorption efficiency was reduced by an increase of *** the background of coexisting Cl-,little effect on adsorption efficiency was observed,while adsorption capacities were reduced by almost 20-30%with the coexistence of SO42-,NO3-and humic acid(HA).

关键词： Bimetallic hydroxides Pomegranate peel Phosphate Adsorption

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合成阿昔洛韦稳定和磷脂稳定的银纳米粒子用于在不同介质中选择性识别Hg2+和氯氧化铜

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合成阿昔洛韦稳定和磷脂稳定的银纳米粒子用于在不同介质中选择性...

作者： inam ullah 北京化工大学

学位级别：硕士

汞(Hg)和氯氧化铜(CuOxy)是被广泛发现的有毒物质,由于其不利影响而引起了研究人员的极大关注。目前报道的Hg和CuOxy测定方法耗时、灵敏度低、选择性差,并且需要使用昂贵的仪器检测。因此,迫切需要设计和开发高效、经济、灵敏和选择性高... 详细信息

汞(Hg)和氯氧化铜(CuOxy)是被广泛发现的有毒物质,由于其不利影响而引起了研究人员的极大关注。目前报道的Hg和CuOxy测定方法耗时、灵敏度低、选择性差,并且需要使用昂贵的仪器检测。因此,迫切需要设计和开发高效、经济、灵敏和选择性高的Hg和CuOxy传感器。目前,纳米材料由于具有较大的比表面积、独特的表面特性、活性和靶向功能以及较高的稳定性,被广泛用作环境毒素的高灵敏度和选择性传感器。在该研究项目的第一部分,合成了高灵敏度的阿昔洛韦稳定银纳米粒子(AC-AgNPs),并将其作为用于Hg检测的纳米传感器进行了研究。通过化学还原方法合成,然后通过紫外-可见(UV-Vis)光谱、动态光散射(DLS)、傅里叶变换红外(FTIR)光谱和原子力显微镜(AFM)对其进行表征。合成的AC-AgNPs具有44.1nm的小尺寸、均匀的尺寸分布、均匀的形态和-17.4 m V的zeta电位。AC-AgNPs用于检测去离子水、河流和海水样品以及人血浆中的Hg。即使在存在其他金属离子、浓度为2 M的浓缩电解质溶液、pH范围在5到14之间以及人体血浆的情况下,纳米传感器也表现出对Hg传感的高选择性。化学荧光分析检测金属离子工作曲线(Jobs plot工作曲线)的实验结果表明,AC-AgNPs和Hg的结合化学计量比为1:2,检测限为0.035μM。研究结果表明,合成的纳米粒子有用作新型比色传感器的潜力,能够在各种介质中具有选择性并轻松地检测Hg离子。在该项目的第二部分中,通过化学还原反应合成了一种极具选择性和敏感性的Pl-AgNPs(DSPE-PEG,一种磷脂稳定的银纳米粒子),并通过扫描电子显微镜(SEM)、动态光散射(DLS)、傅里叶变换红外(FTIR)光谱、紫外-可见(UV-vis)光谱和XRD。合成的Pl-AgNPs尺寸小(96.23nm),多分散指数(PDI)为0.42,尺寸分布和形态均匀。即使在有对抗性的农药残留、浓缩电解质溶液(2 M)、广泛的p H值(1-14)条件下,Pl-AgNPs仍能检测到去离子水和人血浆中掺入的微量CuOxy。该纳米传感器对检测CuOxy具有高度选择性,检测限为0.0283μM。通过实验观察到Pl-AgNPs和CuOxy之间存在1:2的结合化学计量关系。根据我们目前的研究发现,合成的纳米粒子有望被用于开发一种新型比色传感器,用于选择性和实时检测各种介质中的CuOxy。

关键词：重金属银纳米粒子毒性生态系统量热传感器氯氧化铜

Centrality Dependence of K~*(892)~0 and φ(1020) Production at LHC

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Communications in Theoretical Physics 2017年第10期67卷 500-504页

作者： inam-ul Bashir Saeed Uddin Department of Physics Jamia Millia Islamia (Central University) New-Delhi

We study the centrality dependence of the mid-rapidity （｜y｜〈 0.5） yields and transverse momentum distributions of K＊（892）° and φ（1020） resonances produced in Pb ＋ Pb collisions at SNN= 2.76 TeV. The mid- rapidity density （dN/dy） and the shape of the transverse momentum spectra are well reproduced by an earlier proposed Unified Statistical Thermal Freeze-out Model （USTFM）, which incorporates the effects of both longitudinal as well as transverse hydrodynamic flow. The freeze-out properties in terms of kinetic freeze-out temperature and transverse flow velocity parameter are extracted from the model fits to the transverse momentum data provided by the ALICE experiment at the LHC. The kinetic freeze-out temperature is found to increase with decreasing event centrality while the transverse flow velocity parameter shows a mild decrease on moving towards peripheral collisions. Moreover the centrality dependence of the mid-rapidity system size at freeze-out has also been studied in terms of transverse radius parameter.

关键词： statistical model kinetic freeze-out chemical freeze-out collective flow

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