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An Experimental Research on Design and Development Diversified Controllers for Tri-copter Stability Comparison
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Abstract<p>The drones have become the focus of researchers’ attention because they enter into many details of life. The Tri-copter was chosen because it combines the advantages of the quadcopter in stability and manoeuvrability quickly. In this paper, the nonlinear Tri-copter model is entirely derived and applied three controllers; Proportional-Integral-Derivative (PID), Fractional Order PID (FOPID), and Nonlinear PID (NLPID). The tuning process for the controllers’ parameters had been tuned by using the Grey Wolf Optimization (GWO) algorithm. Then the results obtained had been compared. Where the improvement rate for the Tri-copter model of the nonlinear controller (NLPID) if compared with the linear controller is (81.69%). Also, compared the paper results with the previous work results, where the greatest improvement in the stability of the Tri-copter model was (94.2 %) in the nonlinear controller and for traditional PID controller was (79.22).</p>
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Publication Date
Thu Dec 13 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Assessment of Levels of premenstrual psychological and physical Problems (Premenstrual Syndrome-PMS) of Students of the Colleges of Bab Al-Mua’dham Complex/ University of Baghdad
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Objectives: To assess levels of premenstrual psychological disorders of the students in Bab Al-Mua’dham Complex and to find out the relationship between the levels of premenstrual psychological and physical disorders and some demographic characteristics of the students. Methodology: A descriptive study was accomplished throughout the period from the 1st of October, 2015 to the 8th of July, 2016 to assess the psychological and physical problems. A purposive sample of 313 students distributed among different colleges of Bab Al-Mua’dam complex distributed as following: 82 students are from college of Arts; 79

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Publication Date
Fri Dec 08 2023
Journal Name
Iraqi Journal Of Science
Immunohistochemical Study of Estrogen, Progesterone Receptor and Her-2neu Oncogene with Her-2neu Biomarker Estimation by ELISA Technique in Primary Breast Cancer before Chemical Therapy
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Breast cancer is one of the comments malignant tumors worldwide especially in Iraq; it is a leading cause of death in Iraqi women. Determination of estrogen and progesterone receptors status is helpful in selecting the patients most likely to receive benefit from endocrine therapy, and provide prognostic information on recurrence and survival since their expression is related to the degree of the tumor differentiation. From November 2012 to March 2013, 150 breast cancer patients at Al-Amal Hospital in Baghdad were attended to start treatment of disease for the first time. All patients included in this study did not receive chemotherapy. Patients were asked to bring their paraffin embedded tissue blocks to participate in estrogen, progest

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Publication Date
Sat Jan 01 2022
Journal Name
Revista Electronica De Veterinaria
The Molecular Identification of Pathogenic E. coli Isolated from Raw Cow Milk and Assessment Their Anti-susceptibility to Medical Plants at Al-Najaf city/ Iraq
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Background: Toxin-producing Shiga Escherichia coli has been identified as a new foodborne pathogen that poses a significant health risk to humans. Shiga toxin-producing Escherichia coli can be found in raw cow milk and its derivatives. A small number of Escherichia coli strains that produce shiga toxin are pathogenic. Aim of study: The study aimed to see if there were any virulence genes in 50 milk samples that were typical of Entero-haemorrhagic E. coli and evaluate the Myrtus communis effects on these bacteria. Materials and Method: Milk samples were used to isolate E. coli bacteria (n= 27), biochemically analyzed, and genetically screened for virulence genes using a multiplex (PCR). The hydro-alcoholic extraction of Myrtus communis leave

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Publication Date
Fri Dec 08 2023
Journal Name
Iraqi Journal Of Science
Evaluation of the activity of crude alkaloids extracts of Zingiber officinale Roscoe, Thymus vulgaris L. and Acacia arabica L. as coagulant agent in lab mice.
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As Alkaloids known for their pharmaceutical importance; this research included the extraction of crude alkaloids of three plants (Zingiber officinale Roscoe., Thymus vulgaris L. and Acacia arabica L.) and evaluate their activity as coagulant agent by using three degraded concentrations of each plant extract and tested them on lab mice through the observation of the variations in bleeding time (BT), clotting time (CT) and platelet count. The results revealed differences in the percentage of alkaloids in the plants under the study; Z. officinale extract was the higher one followed by T. vulgaris and A. arabica respectively. Z. officinale extract was also the most effective plant as coagulant factor than other two plants as it decreased bot

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Publication Date
Tue Jan 29 2019
Journal Name
Journal Of The College Of Education For Women
Economics Department Assessment of Nutritional a program to student of internal departments in the University of Baghdad (Jadriy a complex ) and the University of mustnsiriy
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The present study aimed to asspssment the nutrition a program to sample of student from internal departments of Baghdad University (AL-Jadiriya Complex) and the University of AL-MustanSiriya four grades and aged (19-24) year study included 150 male and female students by (75) male and (75) of female register height, weight nd body mass index were study habits and food pattern of the same sample (150) and by aspecial form and take the personal information interviews and record information on food intake during 24 hour .noted adifference practie in the weights and longths of male and female (sample).
BMI rates were within the normal weight as the value of BMI for males aged (19- 21)and (22-24) and (22.21) and (23,37),respectively and th

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Publication Date
Thu Dec 28 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Synthesis and Spectro-Kinetic Study of the Complexes of Pd+2 Ion with 2-(5-Bromo-2- pyridylazo)5diethylaminophenol Reagent in Ethanol – Water Solutions
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      The complexes of Pd+2 ion with 2-(5-bromo-2-pyridylazo)-5-dieıhyl aminophenol (BPADAP) were studied kinetically and spectrophotometrically in aqueous ethanolic solutions. The reagent forms 1:1, 2:1 square planer and 1:1 bridged shape binuclear complexes with Pd+2 ion. All these complexes (violet colour) absorb light in the same region at 540, 575 and 618nm. The band at 618 nm seems to be specific for complexes of Pd+2ion with BPADAP.   The rate constants of the growth in 93% H2O + 7% ethanol of 1:1 and 2:1 complexes at 575 and 618 nm were followed the first order kinetics and are quite of the same values , 0.495 and 0.463 min- 1  respectively. The rate constants of the decay of 2:1 complex

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Synthesis,Structural and Biological studies of 4-[(1-phenyl-2,3-dimethyl-3-pyrozoline-5-one)azo]-N,N-dimethyl anline with some transition metal ions
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The present work includes the preparation and characterization of{Co(II) , Ni(II), Pd(II), Fe(III) , Ru(III),Rh(III), Os(III) , Ir(III) , Pt(IV) and VO(IV)}complexes of a new ligand 4-[(1-phenyl-2,3-dimethyl-3-pyrozoline-5-one)azo]-N,N-dimethylanline (PAD). The product (PAD) was isolated,studies and characterized by phsical measurements,i.e., (FT-IR), (UV) Spectroscopy and elemental analysis(C.H.N). The prepared complexes were identified and their structural geometric were suggested in solid state by using flame atomic absorption, elemental analysis(C.H.N), (FT-IR) and (UV-Vis) Spectroscopy, as well as magnetic susceptibility and conductivity measurements . The study of the nature of the complexes formed in( ethanolic solution) following t

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Publication Date
Tue Jun 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
The role of Techno strategy of Information management in achieving administrative innovation : A case study in the college of Management and Economics / University of Kirkuk
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The present research aims to identify and define the basic dimensions of the information management strategy and the administrative creativity in the Faculty of Management and Economics / the University of Kirkuk, as well as the role played by the dimensions of the information technology management strategy in achieving the administrative innovation in the college and the research problem was formulated in several questions. The research problem was formulated in several questions centered on the correlation between the research variables, and the research was based on a major hypothesis and five sub-hypotheses emerged from which it was subjected to several tests to ensure its validity. The researcher used the descriptive-analyti

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
Determination of Mefenamic Acid Using a New Mode of Irradiation (Array of Six Identical LEDs) and Detection( Twin Solar Cells) Through Turbidity Measurement by CFIA
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A newly developed analytical method characterized by its speed and sensitivity for the determination of mefenamic acid (MFA) in pure and pharmaceutical preparation is established via turbidimetric measurement (0-180o) by Ayah 6SX1-ST-2D Solar cell CFI Analyser . The method was based on the reaction of
phosphomolybdic acid with mefenamic acid in aqueous medium to form blue color precipitate as an ion-pair complex . Turbidity was measured via the reflection of incident light that collides on the surface precipitated particles at 0-180o . The chemical and physical parameters were studied and optimized. The calibration graph was linear in the range of 0.3-7 or 0.3-10 mMol.L-1, with correlation coefficient r = 0.9907 or 0.9556 respectively

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Publication Date
Fri Jun 30 2023
Journal Name
لارك
Expressions of probability in Spanish language and their translation into Arabic (Empirical study)تعابير الاحتمالية في اللغة الاسبانية و ترجمتها الى اللغة العربية: دراسة تطبيقية
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The probability is considered one of the grammatical cases in all languages of the world. Expressions of probability in Spanish language are expressed by various structures, expressions and some verb tenses. By this study explains the grammatical cases, the verbal periphrases, the impersonal expressions, the future tenses (simple and perfect) and the conditional mode of probability in Spanish language .We have explains these cases in detail with examples that have extracted from various spanish grammar books .The specific objective of this study is to know the resources and constructions of probability in Spanish language and their translation in Arabic language.

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