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  1. Article ; Online: Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

    Muhammad I. Azeez / A. M. M. Abdelhaleem / S. Elnaggar / Kamal A. F. Moustafa / Khaled R. Atia

    Scientific Reports, Vol 13, Iss 1, Pp 1-

    2023  Volume 19

    Abstract: Abstract This study introduces and compares two optimization techniques, the basic Artificial Bee Colony (ABC) and the enhanced Artificial Bee Colony with multi-elite guidance (MGABC), for determining optimal gains of a Proportional-Integral-Derivative ( ... ...

    Abstract Abstract This study introduces and compares two optimization techniques, the basic Artificial Bee Colony (ABC) and the enhanced Artificial Bee Colony with multi-elite guidance (MGABC), for determining optimal gains of a Proportional-Integral-Derivative (PID) controller in a 3 degrees of freedom (DOF) rigid link manipulator (RLM) system. The objective function used in the optimization process is a novel function that is based on the well-known Lyapunov stability functions. This function is evaluated against established error-based objective functions commonly used in control systems. The convergence curves of the optimization process demonstrate that the MGABC algorithm outperforms the basic ABC algorithm by effectively exploring the search space and avoiding local optima. The evaluation of the controller's performance in trajectory tracking reveals the superiority of the Lyapunov-based objective function (LBF), with significant improvements over other objective functions such as IAE, ISE, ITAE, MAE and MRSE. The optimized system demonstrates robustness to diverse disturbance conditions and uncertainty in the mass of the payload, while also exhibiting adaptability to joints flexibility without inducing any vibrations in the movement of the end-effector. The proposed techniques and objective function offer promising avenues for the optimization of PID controllers in various robotic applications.
    Keywords Medicine ; R ; Science ; Q
    Subject code 629
    Language English
    Publishing date 2023-07-01T00:00:00Z
    Publisher Nature Portfolio
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  2. Article ; Online: Experimentally and theoretically approaches for disperse red 60 dye adsorption on novel quaternary nanocomposites

    N. K. Soliman / A. F. Moustafa / H. R. Abdel El-Mageed / Omima F. Abdel-Gawad / Esraa T. Elkady / Sayed A. Ahmed / Hussein S. Mohamed

    Scientific Reports, Vol 11, Iss 1, Pp 1-

    2021  Volume 27

    Abstract: Abstract A comprehensive study that combined both experimental and computational experiments was performed to evaluate the usage of organo-metal oxide nanocomposite for the elimination of disperse red 60 dye (DR) from aqueous solutions. Chitosan was ... ...

    Abstract Abstract A comprehensive study that combined both experimental and computational experiments was performed to evaluate the usage of organo-metal oxide nanocomposite for the elimination of disperse red 60 dye (DR) from aqueous solutions. Chitosan was modified by Schiff base to form nanoneedles chitosan-4-chloroacetophenone derivative. The derivatives were then impregnated with CeO2–CuO–Fe2O3 or CeO2–CuO–Al2O3 metal oxides to prepare a novel quarternary organo-metal oxide nanocomposite. The novel nanocomposite, chitosan-4-chloroacetophenone/CeO2–CuO–Fe2O3 (CF) and chitosan-4-chloroacetophenone/CeO2–CuO–Al2O3 (CA) are cheap and effective nano adsorbents that can be used for the uptake of DR from aqueous solution. The CF and CA nano-composites were characterized using different techniques. Moreover, the effect of adsorption parameters (initial DR concentration, time of contact, pH, temperature, and adsorbent mass) as well as CA and CF reusability tests were performed. Langmuir adsorption isotherm and pseudo-second-order kinetics models were best fitted with the adsorption process. The maximum amount of DR adsorbed was 100 mg/g on CF and CA at pH 2 and 4, respectively with a physical spontaneous, and exothermic adsorption process. Monte Carlo (MC) simulation studies indicated the adsorption of DR molecule on the CF and CA surfaces following a parallel mode in most of all studied configurations, confirming the strong interactions between the DR and surfaces atoms of CF and CA. The molecular structure analysis of DR dye adsorbed on the surface of CF and CA indicated that the adsorption process related to Van der Waals dispersion force. Consequently, this helps to trap DR dye molecules on the surface of CF and CA (i.e., physical adsorption), which supports our experimental results.
    Keywords Medicine ; R ; Science ; Q
    Subject code 540
    Language English
    Publishing date 2021-05-01T00:00:00Z
    Publisher Nature Portfolio
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  3. Article ; Online: Author Correction

    N. K. Soliman / A. F. Moustafa / H. R. Abd El-Mageed / Omima F. Abdel-Gawad / Esraa T. Elkady / Sayed A. Ahmed / Hussein S. Mohamed

    Scientific Reports, Vol 11, Iss 1, Pp 1-

    Experimentally and theoretically approaches for disperse red 60 dye adsorption on novel quaternary nanocomposites

    2021  Volume 1

    Keywords Medicine ; R ; Science ; Q
    Language English
    Publishing date 2021-08-01T00:00:00Z
    Publisher Nature Portfolio
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

    Full text online

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    Inter-library loan at ZB MED

    Your chosen title can be delivered directly to ZB MED Cologne location if you are registered as a user at ZB MED Cologne.

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