<span lang="EN-US">In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, and industry. In this paper, the physical prototype of a proposed self-balancing platform that described the self-balancing attitude in the (X-axis, Y-axis, or biaxial) under the influence of road disturbance has been introduced. In the physical prototype, the inertial measurement unit (IMU) sensor will sense the disturbance in (X-axis, Y-axis, and biaxial). With the determined error, the corresponding electronic circuit, DC servo motors, and the Arduino software, the platform overcame the tilt angle(disturbance). Optimization of the proportional-integral-derivative (PID) controllers’ coefficients by the genetic algorithm method effectively affected the performance of the platform, as the platform system is stable and the platform was able to compensate for the tilt angle in (X-axis, Y-axis, and both axes) and overcome the error in a time that does not exceed four seconds. Therefore, a proposed self-balancing platform’s physical prototype has a high balancing accuracy and meets operational requirements despite the platform’s simple design.</span>
Mixed convection heat transfer in a vertical concentric annulus packed with a metallic porous media and heated at a constant heat flux is experimentally investigated with water as the working fluid. A series of experiments have been carried out with a Rayleigh number range from Ra=122418.92 to 372579.31 and Reynolds number that based on the particles diameter of Red=14.62, 19.48 and 24.36. Under steady state condition, the measured data were collected and analyzed. Results show that the wall surface temperatures are affected by the imposed heat flux variation and Reynolds number variation. The variation of the local heat transfer coefficient and the mean Nusselt number are presented and analyzed. An empirical
... Show MoreThe present work deals with five species of parasitic Hymenoptera belonging to Pteromalidae, Eupelmidae and Eurytornidae which have been reared from brachid beetles. A new species, Eurytoma irakensis is described and the species, Bruchocida orientalis Crawford is recorded for the first time from Iraq.
Roller Compacted Concrete is a type of concrete that is environmentally friendly and more economical than traditional concrete. Roller Compacted Concrete is typically used for heavy-duty and specialist constructions, such as hydraulic structures and pavements, because of its coarse surface. The main difference between RCC and conventional concrete mixtures is that RCC has a more significant proportion of fine aggregates that allow compaction and tight packing. In recent years, it has been estimated that several million tons of waste demolished material (WDM) produced each year are directed to landfills worldwide without being recycled for disposal. This review aimed to study the literature about creating a Roller-Comp
... Show MoreThe measurement data of the raw water quality of Tigris River were statistically analyzed to measure the salinity value in relation to the selected raw water quality parameters. The analyzed data were collected from five water treatment plants (WTPs) assembled alongside of the Tigris River in Baghdad: Al-Karkh, Al-Karama, Al-Qadisiya, Al-Dora, and Al-Wihda for the period from 2015 to 2021. The selected parameters are total dissolved solid (TDS), electrical conductivity (EC), pH and temperature. The main objective of this research is to predicate a mathematical model using SPSS software to calculate the value of salinity along the river, in addition, the effect of electrical conductivi
Background: The evaluation of the chronological age is a practical method in crime investigation field that assists in identifying individuals to treat them as underage or adult. This study aimed to assess the stages of third molars mineralization in relation to chronological age of Iraqi individuals, determine the gender differences and arches (maxillary/mandibular) differences.
Materials and Methods: A total of 300 orthopantomograms of orthodontic patients were collected according to specific criteria and evaluated visually. The developmental stages of maxillary and mandibular third molars were determined according to Demirjian method. T
... Show MoreA political perusal of Initiations in Declaring Middle East a District vacant of mass Destruction weapons
Bilosomes are nanocarriers that contain bile salts in their vesicular bilayer, thereby enhancing their flexibility and durability in the gastrointestinal tract. Unlike conventional vesicular systems they provide distinct advantages such as streamlined manufacturing procedures, cost efficiency, and improved stability. The main objective of this study was to attain a comparison of the pharmacokinetic parameters of nisoldipine (NSD) after administering an ordinary NSD suspension and an NSD-loaded bilosome suspension. The study used 60 Swiss albino rats weighing 200±15 g and divided into two groups (n=30 each). A dose of 2.2 mg/kg of NSD was administered from the ordinary NSD suspension to the rats of the first group and the same dose
... Show MoreIn project management process, the objective is to define and develop a model for planning, scheduling, controlling, and monitoring different activities of a particular project. Time scheduling plays an important role in successful implementation of various activities and general outcome of project. In practice, various factors cause projects to suffer from time delay in accomplishing the activities. One important reason is imprecise knowledge about time duration of activities. This study addresses the problem of project scheduling in uncertain resource environments, which are defined by uncertain activity durations. The study presents a solution of the levelling and allocation problems for projects that have some uncertain ac
... Show MoreThe fresh water ecosystem constitute an essential and very important for human life, for this reason it should be kept away from all the chemical pollutants including the pesticides The best way for Fighting harmful insects.(such as Anophles larvae) is by the biological control.
In the present study two species of Cyclopoida: Copepod, Mesocyclops hyalinus and Cyclops agilis آ were used as predators for Anophles larvae.
The data showed that the percentages of predation were 65% and 56%
forM. hyalinus and C. agilis respectively
and the means of predation were 1.3 larvae/ female and 1.1
... Show MoreThe growing relevance of printed and digitalized hand-written characters has necessitated the need for convalescent automatic recognition of characters in Optical Character Recognition (OCR). Among the handwritten characters, Arabic is one of those with special attention due to its distinctive nature, and the inherent challenges in its recognition systems. This distinctiveness of Arabic characters, with the difference in personal writing styles and proficiency, are complicating the effectiveness of its online handwritten recognition systems. This research, based on limitations and scope of previous related studies, studied the recognition of Arabic isolated characters through the identification o
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