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Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays
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In this paper, an adaptive active disturbance rejection control is newly designed for precise angular steering position tracking of the uncertain and nonlinear SBW system with time delay communications. The proposed adaptive active disturbance rejection control comprises the following two elements: (1) An adaptive extended state observer and (2) an adaptive state error feedback controller. The adaptive extended state observer with adaptive gains is employed for estimating the unmeasured velocity, acceleration, and compound disturbance which consists of system parameter uncertainties, nonlinearities, exterior disturbances, and time delay in which the observer gains are dynamically adjusted based on the estimation error to enhance estimation performances. Based on the accurate estimations of the adaptive extended state observer, the proposed adaptive full state error feedback controller is equipped with variable gains driven by the tracking error to develop control precision. The integration of the advantages of the adaptive extended state observer and the adaptive full state error feedback controller can improve the dynamic transient and static steady-state effectiveness, respectively. To assess the superior performance of the proposed adaptive active disturbance rejection control, a comparative analysis is conducted between the proposed control scheme and the classical active disturbance rejection control in two different cases. It is worth noting that the active disturbance rejection control serves as a benchmark for evaluating the performance of the proposed control approach. The results from the comparison studies executing two simulated cases validate the superiority of the suggested control, in which estimation, tracking response rate, and steering angle precision are greatly improved by the scheme proposed in this article.

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Publication Date
Sun Feb 25 2024
Journal Name
Iraqi Journal Of Agricultural Sciences
BIODEGRADATION OF POLYSTYRENE BY PLASTIVORES GREATER WAXWORMS LARVAE (Galleria mellonella).
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This study was aimed to find and test biological methods for reducing the aggregation of plastics such as PS in the environment  and study the ability of Greater Wax worms larvae (Galleria mellonella) to eat PS that similar in the its structure to beeswax .Weight loss, morphology changes ,FTIR spectroscopy  and GC-mass analysis were performed which showed changes in chemical properties of the PS due to degradation. In this study  the percentage of weight loss was 33% in the PS treated with G. mellonella. FTIR of PS frass showed the disappearance of aromatic cycle band that was found in the origin PS at region more than 3000 cm-1. Also The PS frass samples from wax worms larvae revealed the creation of a new O-H stretching alcohol

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Publication Date
Wed Jul 09 2025
Journal Name
Journal Of Physical Education
Criteria Some Power Defined By Speed Endurance In Youth Basketball
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Publication Date
Thu Mar 30 2023
Journal Name
College Of Islamic Sciences
The rule (The inference is not invalidated by its like)
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In the name of of Allah the Merciful

Research Summary

This rule is one of the common rules between the sciences of the principles of jurisprudence and the jurisprudence rules. It is originally a fundamental rule because it relates to one of the topics of the science of the principles of jurisprudence, which is ijtihad. The ruling on reversing his ijtihad is permissible or not (1), and for this reason Ibn Al-Subki titled it in his book Al-Ishbah wa Al-Nazaer by saying: “What invalidates the judge’s judgment and what does not invalidate it.” ([2]).

The importance of this rule comes from the need for it by the judge, the mufti and the imitator, for the judge needs it to know the matters in which the ruling base

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Publication Date
Mon Mar 04 2024
Journal Name
Journal Of Engineering
REMOVAL OF DIRECT BLUE DYE IN TEXTILEWASTEWATER EFFLUENT BY ELECTROCOAGULATION
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 Removal of direct blue dye by electrocoagulation method has been investigated using aluminum   electrode in a bench-scale electrochemical system. Current density, NaCl concentration,   electrocoagulation time, and dye concentration has been studied as effecting parameters in color   removal efficiency. Increasing of current density will increase the color removal efficiency and   energy consumption as well. While increasing NaCl concentration increase the color removal   efficiency but it decrease energy consumption. High dye concentration is needed for extra   electrocaogolation time to reach the same efficiency that obtained with low dye concentration .With   current applied 0.35 amps. and NaCl concentration of 2 g/l more

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Publication Date
Mon Oct 01 2018
Journal Name
World Journal Ofexperimentalbiosciences
transformation of Saccharomyces cerevisiae by PET plasmid using lithium acetate
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Publication Date
Sun Jul 01 2018
Journal Name
Journal Of Educational And Psychological Researches
The Use of Discourse Markers by Iraqi Secondary Schools Pupils
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This research aims at investigating pupils’ ability in using discourse markers which are identified in the English textbooks of secondary schools. Four texts are chosen from third intermediate class. The four texts are short stories of different topics.                                                  

        This research hypothesizes that there are no statistical significant differences among Iraqi intermediate pupils’ ability in using textual

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Publication Date
Tue Feb 09 2016
Journal Name
World Journal Of Experimental Biosciences
Bioremoval of copper and zinc by filamentous alga Oscillatoria limnetica
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Publication Date
Thu Mar 11 2021
Journal Name
Annals Of Tropical Medicine & Public Health
Morphological and Molecular Study of Biofilm Formation by Enterobacter cloacae
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Publication Date
Mon Jan 01 2018
Journal Name
International Journal Of Medical Research & Health Sciences
Non-Surgical Treatment of Gingival Recession by Platelet-Rich Plasma
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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
Biodegradation of Anthracene Compound by Two Species of Filamentous Fungi
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Isolation and identification fungi of Emericella nidulans and Aspergillus flavus from a pinkish and yellowish artificial clay, by using potato dextrose agar (PDA). Results revealed that E. nidulans was the best for degrading anthracene (92.3%) with maximum biomass production (3.7gm/l), compared to A. flavus with the rate of degradation (89%) and biomass production of (1.2gm/l), when methylene blue was used as redox indicator after incubating in a shaker incubator 120rpm at 30Co for 8days. Results indicated that E. nidulans has a high ability of anthracene degradation with the rate of (84%), while A. flavus showed the lower level with (77%) by using HPLC.

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