New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use

Effect of temperature on viability of human hydatid cyst & study the volume of hydatid cyst

The hydatid materials were collected and studied, so they were contained 50 fertile human hydatid cases {33 (66%) females and 17 (34%) males}. They were collected from Al-Ramadi General Hospital during the period from December, 2003 to July, 2004 .Cysts were observed in 40 (80%) from the liver, 5 (10%) from the lungs, 3 (6%) from the kidney and 2 (4%) cysts from urinary bladder. The specimens were taken from patients of different ages. The in vitro viability of protoscoleces was assessed on the basis of flame cell activity and eosein exclusion, which were considered as criteria to determine the death or viability of protoscoleces. In addition to this movement (flame cell activity), another motility like constriction – relaxation (invagination - evagination) in the protoscoleces was also noticed. Both types of movement were examined under light microscope. The motility of protoscoleces examined under effect of three different temperature degrees 25?C, 37?C, and 40?C was within 15 minutes. It showed steadily increase with rising temperature. Flame cell activity increased as high as 70.01% at 40?C, while the motility with constriction -relaxation movement increased as 100.0% at 40?C. The volumes of hydatid cysts were also studied, so they were measured. Therefore, the volumes of human hydatid cysts were the highest in the lung and this is may be due to the spongy texture of the lung tissues. There is relationship between the volumes of Hydatid cysts and the viability was recorded

Mathematical modelling of permanent-magnet brushless DC motor drives

Brushless dc motor drives have become increasingly popular, following recent developments in rare-earth permanent-magnet materials and the semiconductor devices used to control the stator input power and to sense the rotor position. They are now frequently used in applications such as flight control systems and robot actuators, and for drives which require high reliability, long life, little maintenance and a high torque-to-weight ratio. In many motor drives the presence of torque and speed ripples, especially at low speed, is extremely undesirable. The mathematical model developed in this thesis was used to investigate their occurrence in a typical brushless dc drive system, with the objective of establishing factors which effect their magnitude and ways by which they may be reduced. The model is based on the numerical solution of the differential equations for the system, with those for the motor being formulated in the phase reference frame. Tensor methods are used to account for both the varying topology and the discontinuous operation of the motor arising from changes in the conduction pattern of the inverter supply switches. The thesis describes the design, construction and testing of an experimental voltage source PWM inverter, using MOSFET switching devices, to drive a 1.3 kW 3-phase brushless dc motor. A practical circuit is described which implements current profiling to minimize torque ripple, and the optimum phase current waveforms are established. The effect of changes in the firing angle of the inverter switches on the torque ripple are also examined. Throughout the thesis, theoretical predictions are verified by comparison with experimental results

Association of Circulating MicroRNA-142-3p with Graves Disease

تهدف هذه الدراسة الى التحري عن وجود دور محتمل للحامض النووي الرايبي الدقيق(miR-142-3p) في ظهور مرض اعتلال الغدةالدرقية المفرط (Graves disease ) وعلاقته مع افراز الاجسام المضادة لمستقبلات الهرمون المحفز للدرقية ( TSHR-Ab )تضمنتالدراسة اخذ عينات دم من اربعين مريضا يعانون من مرض اعتلال الغدة الدرقية المفرط وكانت نتيجة فحص وجود الاجسام المضادة لديهم(TSHR-Ab) موجبة. تم تقسيم المرضى الى مجموعتين (22 مريضا دون علاج و 18 مريضا يأخذ علاج) بالاضافة الى اربعين شخصا منالاصحاء كمجموعة ضابطة. جميع المرضى والاصحاء لايعانون من اي من امراض المناعة الذاتية. تم قياس مستوى تعبير (miR-142-3p)باستخدام تقنية (RT-PCR ). اظهرت النتائج ان هناك زيادة معنوية (p < 0.01 ) في تعبير) miR-142-3p) في مصل دم كل منمجموعتي المرضى مقارنة بالمجموعة الضابطة وفي المرضى الذين يكون لديهم وراثة بالعائلة مقارنة بالذين لم يكن لديهم. بينما كان الفرق فيمستوى تعبير ) miR-142-3p) غير معنوي ( p >0.05 ) بين مجموعتي المرضى. كما اظهرت النتائج ان هناك علاقة موجبة بين مستوىتعبير ) miR-142-3p) مع تركيز الاجسام المضادة (TSHR-Ab ) FT3 ,وFT4, بالاضافة الى ان هذا الحامض النووي الرايبي له قيمةتشخيصية دقيقة ذات حساسية (83%) وخصوصية (80%).نستنتج من هذه الدراسة ان الاختلاف في مستوى تعبير ) miR-142-3p) بينمرضى اعتلال الغدة الدرقية المفرط والاصحاء جعلته ذا قيمة تشخيصية جيدة و من علاقته الموجبة مع تركيز الاجسام المضادة ((TSHR-Ab نستنتجThis study aims to investigate the possible role of circulating microRNA-142-3p (miR-142-3p) in thedevelopment of graves disease (GD) and its association with the antibody directed against thyroidstimulating hormone receptor (TSHR-Ab) production in patients with GD. Forty patients with positiveTSHR-Ab enrolled in this study were divided ,based on treatment, into (22 untreated (newly diagnosed) and18 treated patients) and based on family history (30 with positive family history and 10 with negative familyhistory). In addition to forty healthy subjects with sex and age matching as a control group. The expressionlevel of circulating miR-142-3p was determined by two steps reverse transcription polymerase chain reaction(RT-PCR) technique. Results show that there is a significant elevation (p < 0.01) in the expression of miR-142-3p in the serum of both treated and untreated patients compared with controls and in patients withpositive family history compared with negative family history. While its expression is non-significantlylower (P > 0.05) in the serum of treated patients compared with untreated ones. It has been found that miR-142-3p expression was positively correlated with levels of TSHR-Ab, FT3, and FT4. In addition, the miR-142-3p expression has a good diagnostic accuracy with sensitivity (82%) and specificity (80%). Inconclusion, the differential expression of miR-142-3p between patients and healthy controls appears as apotential biomarker for diagnosis of GD and the positive correlation of miR-142-3p with TSHR-Absuggesting the contribution of this miRNA in the development of GD

Effect of some species of bacteria on viability of human hydatid cysts

A total of 50 fertile human hydatid cases {33(66%) females and (34%) males}, obtained from Al-Ramadi public Hospital during the period from December 2003 to July 2004 were examined to study any bacterial infections. The specimens were obtained from hydatid fluid and then cultured on appropriate culture media to distinguish some species of bacteria which resulted in obtaining: Staphylococcus aureus (18%), Pseudomonas aeruginosa(12%), Escherichia coli(6%) and Streptococcus pneumonia (4%). These bacteria were confirmed by isolation from interacyst fluid and blood culture technique. The possible routs of infection may be through blood, biliary ducts and bronchioles .The selectivity permeable of the cyst wall may be absent and that may allow some species of bacteria to enter inside the cyst. Further, the percent viability decreased among cyst which yielded S. aureus , P. aeruginosa and other bacteria isolated after culturing compared with those of negative culture .Besides, the two types of protoscoleces motilities (flame cell activity and constriction –relaxation movement )increased in cases of negative culture .This association holds true at three different temperature (25ºC,37ºC and 40ºC)

Synthesis & Characterization of Oxazinan and 5-oxa-7-aza-spiro[2,5] octane from reaction of Dibenzylidene with malonic anhydride and 5-oxa-spiro[2,3] hexane-4,6-dione.

Di Benzylidenes were prepared by condensation of 1,2-diamino benzene with o- hydroxy benzaldehyde. These dibenzylidenes when treated with one equivalent of malonic anhydride or 5-oxo-spiro[2,3]hexane-4,6-dione in dry benzene give 6-membered heterocyclic ring system of 3-{2-[(2-Hydroxy-benzylidene)-amino]-phenyl}-2-(2-hydroxy –phenyl)-[1,3]oxazinane-4,6-diones ( 1-3) or 7-{2-[(2-hydroxy-benzylidene)-amino]-phenyl}-6-(2-hydroxy-phenyl)-5-oxa-7-aza-spiro[2.5]octane-4,8-diones ( 7- 9 ) But when two equivalents of malonic anhydride or 5-oxo-spiro[2,3]hexane-4,6-dione were used and under sam conditions compounds (4-6 , 10-12 ) were obtained

Association between Helicobacter pylori infection & atrophic gastritis

Background: Helicobacter pylori (H. pylori) infection is associated with gastritis and may induce atrophic gastritis have specific circulating immunoglobulin G (IgG) antibodies. Aim of the study: To confirm the correlation between Helicobacter pylori infection and gastric atrophy. Patient and Method: A study was conducted in the period between December 2005 and March 2006 on 25 patients with atrophic gastritis attending Gastroenterology and Hepatology Teaching Hospital in Baghdad, and 25 healthy volunteers who agreed to donate blood. Sera were tested for H. pylori IgG Ab by ELISA test. Results and Conclusions: detection of H. pylori IgG Ab were applied to each individual, showed that (92 %) of patients with atrophic gastritis had positive H. pylori IgG Ab were as only 4 (16 %) of normal healthy individuals had positive H. pylori IgG Ab

New Optimal Approach for the Identification of Takagi-Sugeno Fuzzy Model

A novel optimal method is developed to improve the identification and estimation of Takagi-Sugeno (TS) fuzzy model. The idea comes from the fact that the main drawback of T-S model is that it can not be applied when the membership functions are overlapped by pairs. This limits the application of the T-S model because this type of membership function has been widely used in the stability and controller design of fuzzy systems. It is also very popular in industrial control applications. The method presented here can be considered as a generalized version of T-S fuzzy model with optimized performance in approximating nonlinear functions. Various examples are chosen to show the high function approximation accuracy and fast convergence obtained by applying the proposed method in approximating nonlinear systems locally and globally in comparison with the original T-S model

Estimación de modelos borrosos y su aplicación al control óptimo

El objetivo de la presentación es dar a conocer los últimos trabajos del Grupo de Investigación sobre últimos trabajos del Grupo de Investigación sobre Control Borroso. • Obtención de modelos precisos de sistemas no lineales basados en sistemas borrosos – Mamdani – Takagi-Sugeno – Linealización • Generalización del método propuesto por T-S • Identificación iterativa basada en el Filtro de Kalman • Sistemas de control basados en el modelo TS obtenido – LQ