Han, Youde

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Citation - WoS: 2
Investigation on the Influence of Parameter Uncertainties in the Position Tracking of Robot Manipulators
(Univ North, 2019) Ghanbarpour Asl, Habib; Han, Kerim Youde
This paper presents a novel trajectory tracking method for robot arms with uncertainties in parameters. The new controller applies the robust output feedback linearization method and is designed so that it is robust to the variation of parameters. Robustness of the algorithm is evaluated when the parameters of the system are floating over 10 percent up and down. An Unscented Kalman Filter (UKF) is applied for state and parameter estimation purposes. As the considered system has 8 unknown parameters while only 5 of them are independent parameters, UKF is applied only to the augmented system with independent parameters. Three types of simulations are applied depending on sensor groups - first with both position and joint sensors, second with only position sensors and third with only joint sensors. The observation of parameters in these groups is discussed. Simulation results show that when both position sensors and joint sensors are used, all the parameters and states are observable and good tracking performances are obtained. When only position sensors are used, the accuracy of the estimated parameters is reduced, and low tracking performances are revealed. Finally, when only joint sensors are applied, the lengths of robot arms are unobservable, but other parameters related to the dynamic system are observable, and poor tracking performances are given.
Reduction of Energy Consumption in Hvac Systems of Abu Ghraib Prison in Iraq
(Ieee, 2018) Al-Malaki, Fadhil Assad Mohammed Kadhim; Han, Youde
This paper proposes new strategies for reducing the energy consumption and cost in HVAC systems of Abu Ghraib in Iraq. It is mainly focused on studying the possibility of rationalization of energy consumption in HVAC system by applying computer programs such as HAP program to simulate the Energy Consumption of the first and second floor of the Abu Ghraib prison in Iraq, based on a yearly, monthly tests, and even on specific months of a year. Both VAV (Variable Air Volume) and CAV (Constant Air Volume) mechanisms are applied to demonstrate the effectiveness of our proposed methods and energy consumption by using both approaches are analyzed and compared. Simulation Result shows that large energy saving is resulted by using our proposed methods. For the two stage cooler system with using VAV are contributed to decrease the required energy consumption dramatically at a yearly total amount as much as 40% compared with any other system.

Journal	Count
International Conference on Advances in Sustainable Engineering and its Application (ICASEA) -- MAR 14-15, 2018 -- Wasit, IRAQ	1
Tehnički glasnik	1

Han, Youde

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