This paper presents the Extended State Observer (ESO) based repetitive control (RC) for piezoelectric actuator (PEA) based nano-positioning systems. The system stability is proved using Linear Matrix Inequalities (LMIs), which guarantees the asymptotic stability of the system. The ESObased RC used in this paper has the ability to eliminate periodic disturbances, aperiodic disturbances and model uncertainties. Moreover, ESO can be tuned using only two parameters and the model free approach of ESO-based RC, makes it an ideal solution to overcome the challenges of nano-positioning system control. Different types of periodic and aperiodic disturbances are used in simulation to demonstrate the effectiveness of the algorithm. The comparison studies validates that the ESO-based RC is ideal for PEA control.
Tourist business organizations face a challenging and the risks dynamic environment reflected its impact on the community and generate extra under pressure in the responsibilities and burdens of exceptional and affected much of factors, accidents and risks as a result of the actions and attitudes of disasters variety may exceed the geography of States border, which requires the absorption of risks facing the tourism and how to manage and deal with them scientific and reasonable grounds for the diagnosis and treatment of risk and how to reduce the aggravation and the different kinds.
As risks affecting the most important and vital to organizations as a tourist aspects of the market share and styles tourist
... Show MoreBackground: The demographic characteristics of Iraqi patients with the metabolic syndrome (MS) and presenting with acute coronary syndrome (ACS) has been scarcely studied before.
Aim of the study To study the socio-demographic characteristics of a group of Iraqi patients with MS presenting with ACS.
Patients and Methods: A convenience sample of 150 cases presenting with ACS and admitted to the coronary care unit (CCU) of Al-Yarmouk Teaching Hospital in Baghdad from mid-January through July 2011 were included in the current cross-sectional study. The data needed for the study was collected through a direct interview to fill a questionnaire by all cases carried out by a consu
... Show MoreInflammasome is a multiprotein oligomer complex which is the precursor procaspase-1 and is a component of the innate immune system so that this study aimed to determine the serum levels of interleukin-1? and 18 in patients with T2D and simple obesity in an attempt to clarify the role of inflammasome in these disorders.Twenty five known cases of T2D, twenty four patients with simple obesity and twenty healthy subjects were randomly recruited from AL-Kindy Teaching Hospital in Baghdad to enroll in this study. All the data about the demographic characteristics and anthropometric measurements were determined in all patients, also the C-reactive protein and serum interleukin (IL)-1? and IL-18 levels were obtained from each patient. The results s
... Show MoreThe study involved 120 women, who were distributed into two groups of breast tumor patients (30 malignant and 30 benign) and a group of controls (60 women). The patients were referred to the Center for Early Detection of Breast Tumor at Al-Alwayia Hospital for Gynecology and Obstetrics (Baghdad) during the period June-December 2011. They were investigated for the frequency of ABO blood group phenotypes, menopausal status, oral contraceptive use, body mass index and family history of breast cancer or other cancers. The results demonstrated that 60.0% of malignant cases clustered after the age 50 years, while it was 20.0% in benign cases. Fifty percent of malignant breast tumor patients reached menopause, while in benign cases, the corresp
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After the defeat of the military terrorist organization "ISIS" and the fall of the throne of its alleged state in the Iraqi city of Nineveh, in Syrian Baghouz, and the end of its control over the land, the Syrian camps, especially "Al-Hol" camp, emerge as an incubator for the ideology of the terrorist organization "ISIS" and a vital base for its consolidation and dissemination, which includes (68,000- 73,000) people. During the years following the military defeat of (ISIS), the camp witnesses the spread of extremist ideas widely at the hands of its residents, including the families of the organizations dead's, extremist detainees, and those who deal with it, taking advantage of the deterioration of the environmental, se
... Show MoreBackground: Obesity represents a clear and
present danger to the health of children and
adolescents. Its prevalence among American
youth has doubled in the past 3 decades, and
there are now more overweight and obese
adults in the United States than adults of
normal weight.
Objectives of the study:
1- Finding whether screen watching among
adolescents has an effect on increasing
prevalence overweight and obesity.
2- The effect of other variables like physical
activity, eating in front of screen, eating under
stress on obesity and overweight among the
subjects sample.
Patients &Methods: During 3 months period a
cross sectional survey was conducted on 4
high schools at Baghdad with total
To investigate the activity and role of certain enzyme markers in 30 patients female with breast cancer (non-treated, treated, and treatment with recovered).The serum activity of enzyme tumor markers (ALP, GPT and GOT) of (30) patients with breast cancer, and (7) healthy control subjects by using statistical analysis: There is significant difference higher in activity of serum enzyme tumor markers (ALP, GPT, and GOT) in all patients as compared with healthy control
Objectives: The study aims to investigate the efficiency of physiotherapy methods to improve the
degree of the clinical recovery of the peripheral facial palsy.
Methodology: This study is carried out at the Rehabilitation Center-Baghdad from November 2009 till
March 2010. This study includes (40) patient, their ages are from (13) to (55) years old; (24) male and
(16) female with unilateral facial palsy of undetermined cause. House-Brackmann facial recovery
scores have been used before and after the physiotherapy treatment.
Results: The results show that the physiotherapy sessions obtained the best effect of the electrical
stimulation, exercises and massage in the treatment of facial palsy. Highly respondents in femal
There is not enough studies about bacterial contamination of air condition system in the cars and houses, bacterial detection of such surrounding is necessary for the human environment.
The object of recent study was to evaluate the level of bacterial contamination in air conditioner in cars and houses in Baghdad city, Iraq.
Air samples were taken indoor from cars and house air conditioner in the Baghdad city. The result indicated that gram positive bacteria more than gram negative bacteria in air conditioner. Air condition of cars (20-500 CFU) was more contaminated than of houses (10-100 CFU).
Bacillus was the most frequently bacterial isolates genus with recovery rate B
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