A requirement for new robotic manipulators is the ability to detect and manipulate objects in their environments. Robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain using conventional techniques. Therefore, an efficient technique is required to deal with these types of complex and dynamic systems. Differential Evolution (DE) algorithm is a very powerful optimization technique and has become popular in many fields. Arguably, it is now one of the most predominant stochastic algorithms for real-parameter optimization. However, DE is very sensitive to its control parameters of the mutation operation (F) and crossover operation (CR) in such a way that their fine tuning greatly affect DE performance. Fuzzy Adaptive DE (FADE) algorithm is one of the well known adaptive DE variants that show superiority and reliability in solving different types of optimization
Azeddien Kinsheel, Rawaa Dawoud Al-Dabbagh, Saad Mekhilef, Mohd Sapiyan Baba, Shahaboddin Shamshirband(12-2014)

Abstract For this study, two identical single-effect of single basin solar stills are designed, fabricated, tested, and evaluated, where one of them is employed alone which is referred to as “passive still”, while the other is coupled to a flat plate solar collector introducing what so called the active still. Both are installed at the same site in Tripoli-Libya and they are oriented due to south. Measurement of various temperatures, solar intensities, humidity, wind speed and distillated water production are taken each hour for several days of August under various operating conditions. Two operational modes are considered; each of the passive and active stills is operating for the whole day. These tests were performed using seawater and water basin different depths. The water production of the active still is reported to be 6.6 L/m2.day which is higher than that of the passive still by 56 per cent approximately. The maximum daily efficiency is calculated to be 24 per cent approximately for the active still system while it is 14 per cent approximately for the passive still. Yet, the still thermal performance seems to have a complex function of geometrical, constructional, and operational conditions, site characteristics and layout details.
صالح أحمد سرابيط (2010)

Abstract During the last years there has been an increasing consciousness of the environmental problems, created by the use of fossil fuels in electrical power generation consumed by converting cooling systems. In addition, the use of common working fluids (refrigerants), with their ozonedepleting and global warming potential, has become a serious environmental problem. This underlines the need to implement advanced, new concepts in building air-conditioning. The most common global type of thermally driven technology to produce chilled water is absorption cooling. For air-conditioning applications, absorption systems commonly use the water/lithium bromide or ammonia/water as working pair of fluids. The objective of this study is to establish a fundamental basis for further research and development within the field of solar cooling. In this study, an overview of possible systems for solar powered refrigeration and airconditioning systems will be presented. The concept of the ‘Solar Cooling Path’ is introduced, including a discussion of the energy source to the collector. Brief information and comparisons of different absorption refrigeration cycles are also presented. A solar-driven absorption refrigeration system has been selected as a case study for a further detailed investigation. A low temperature heat source can be used to drive the absorption refrigeration cycle, making the system suitable for integration with solar thermal collector. The Transient System Simulation program (TRNSYS) and Engineering Equation Solver (EES) simulation tools are used to model and analyze the performance of a solar-driven absorption refrigeration system. Analysis of the absorption cycle system is initiated by steady-state analysis. A modeling of single effect water/lithium bromide absorption cycle was constructed to study the effect of the operating variable on the system performance and to determine the optimum operating conditions for the absorption cycle. This model was developed by Engineering Equations Solver program (EES). In practice, the ambient conditions and solar radiation are not constant. Therefore, a dynamic analysis is useful for determining the characteristics of the system during the entire year, and dimensioning the important components of the solar collector subsystem, such as storage tanks and collector area. The overall solar absorption cooling system has been simulated by the TRNSYS program with a typical meteorological year file containing the weather parameters for the capital of Libya, Tripoli. Finally, a parametric study was carried out to investigate the influence of key parameters on the overall system performance of solar absorption cooling system and hence to improve and optimize the system design. Results from the parametric optimization indicated that with an area of 130m2 of flat plate collectors with an inclination of 32° and 3.5m3 of storage tank is achieved to cover the demand of air conditioning of a 35kW absorption chiller.
إبراهيم محمد علي الطويري (2011)