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Article
Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller

Authors: Ghusn A. Ibraheem --- Ibraheem K. Ibraheem
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 13 Part (A) Engineering Pages: 2406-2419
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR). A modified particle swarm optimization (MPSO) has been proposed in this work to tune the parameters of the nonlinear FOPID controller to design the controller so that the 2-WMR follows exactly a predefined continuous track. The kinematic model of a differential drive 2-WMR has been derived to simulate the behavior of the 2-WMR and it is used in the design and simulations of the proposed FOPID controller. From simulation and results, it can be seen that the efficiency of the proposed nonlinear FOPID controller outperforms the nonlinear integer order PID controller; this is proved by the minimized tracking error and the speed control signals obtained.


Article
Robust Controller Design for Load Frequency Control in Power Systems using State-Space Approach

Authors: Ibraheem K. Ibraheem --- Rami A. Mahir --- Ismail A. Mohammed
Journal: Journal of Engineering مجلة الهندسة ISSN: 17264073 25203339 Year: 2011 Volume: 17 Issue: 2 Pages: 265-278
Publisher: Baghdad University جامعة بغداد

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Abstract

In this paper a robust governor has been designed using H∞ techniques to replace the conventional governor of the steam turbine of the power system to regulate the frequency of the power grid. The robust governor is synthesized using state-space approach with time variations, neglected dynamics, and constant main steam pressure are considered in the design process. The proposed approach ensures internal stability, satisfying both frequency and time domains requirements, and obtaining minimal performance H∞-norm of the closed-loop system in one burden. The simulations are carried out using MATLAB and the results show that the overall system output performance can be improved using the proposed H∞ robust governor

في هذا البحث تم تصميم حاكم نشيط بإستخدتم تقنيات ال (H∞) ليستبدل الحاكم التقليدي لمنظومة التوربين في منظومات الطاقة الكهربائية لتنظيم التردد الخاص بالشبكة الكربائية. المسيطر النشيط تم تصميمه بإستخدام طريقة فضاء الحالة مع الاخذ بنظر الاعتبار التغيرات الزمنية, الديناميك المهمل, ضغط ثابت للبخار المتولد من المرجل. الطريقة المقترحة تضمن الاستقرارية الداخلية و وتحقق كلاً من متطلبات مجالي الزمن و التردد وتحصل على أقل (H∞-norm ) للنظام المغلق في نفس الوقت. النتائج نفذت إستخدام برنامج MATLAB وأظهرت بأن الاداء الكلي للمنظومة يمكن أن يتحسن بإستخدام الحاكم النشيط المقترح


Article
Enhancement of the Detection of the TCP SYN Flooding (DDoS) Attack

Authors: Hamid M. Ali --- Ibraheem K. Ibraheem --- Sarah W.A. Ahmad
Journal: Journal of Engineering مجلة الهندسة ISSN: 17264073 25203339 Year: 2013 Volume: 19 Issue: 6 Pages: 786-794
Publisher: Baghdad University جامعة بغداد

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Abstract

The major of DDoS attacks use TCP protocol and the TCP SYN flooding attack is the most common one among them. The SYN Cookie mechanism is used to defend against the TCP SYN flooding attack. It is an effective defense, but it has a disadvantage of high calculations and it doesn’t differentiate spoofed packets from legitimate packets. Therefore, filtering the spoofed packet can effectively enhance the SYN Cookie activity. Hop Count Filtering (HCF) is another mechanism used at the server side to filter spoofed packets. This mechanism has a drawback of being not a perfect and final solution in defending against the TCP SYN flooding attack. An enhanced mechanism of Integrating and combining the SYN Cookie with Hop Count Filtering (HCF) mechanism is proposed to protect the server from TCP SYN flooding. The results show that the defense against SYN flood DDoS attack is enhanced, since the availability of legitimate packets is increased and the time of SYN Cookie activity is delayed.

معظم (DDoS attacks ) تستخدم ال ( TCP protocol ) وال ( TCP SYN flooding ) هو الاكثر شيوعامن بينهم . تستخدم طريقة ال ( SYN Cookie) للحماية من ال(TCP SYN flood ) .ال (SYN Cookie) طريقه دفاع فعالة ولكن نقطة ضعفها أن حساباتها تستغرق وقت طويل ولاتميز ال (Packets) المزورة عن الشرعية ، لذا ، تصفية ال(Packets) المزورة ممكن ان يحسن فعالية ال (SYN Cookie) بصورة فعالة. ال(HCF) هي طريقة اخرى تستخدم عند جهة ال(Server) لتصفية ال(Packets) المزورة ، نقطة ضعفها انها لاتعتبر حل كامل ونهائي لحماية ال (Server) من ال (TCP SYN flooding attack ) . تم اقتراح طريقة مكونه من تكامل ودمج ال (SYN Cookie) وال (HCF) لحماية (Server) من ال(TCP SYN flooing ). حيث اظهرت النتائج تحسن في الدفاع ضد ال(SYN flooding) ، وذلك بزيادة عدد ال( Packets) الشرعية اضافة الى تأخير وقت تفعيل طريقة ال (SYN Coolie).

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