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A self-balancing platform on a mobile car
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<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>

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Publication Date
Mon Jul 10 2023
Journal Name
Journal Of Engineering
Analysis and Optimum Design of Self Supporting Steel Communication Tower
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The present study deals with the optimum design of self supporting steel communication towers. A special technique is used to represent the tower as an equivalent hollow tapered beam with variable cross section. Then this method is employed to find the best layout of the tower among prespecified configurations. The formulation of the problem is applied to four types of tower layout
with K and X brace, with equal and unequal panels. The objective function is the total weight of the tower. The variables are the base and the top dimensions, the number of panels for the tower and member's cross section areas. The formulations of design constraints are based on the requirements of EIA and ANSI codes for allowable stresses in the members

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
the coincidence lefschetz number for self-maps of lie groups
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Let/. It :0 ---0 G be any two self maps of a compact connected oriented Lie group G. In this paper, for each positive integer k , we associate an integer with fk,hi . We relate this number with Lefschetz coincidence number. We deduce that for any two differentiable maps f, there exists a positive integer k such that k 5.2+1 , and there is a point x C G such that ft (x) = (x) , where A is the rank of G . Introduction Let G be an n-dimensional com -pact connected Lie group with multip-lication p ( .e 44:0 xG--+G such that p ( x , y) = x.y ) and unit e . Let [G, G] be the set of homotopy classes of maps G G . Given two maps f , f G ---• Jollowing [3], we write f. f 'to denote the map G-.Gdefined by 01.11® =A/WO= fiat® ,sea Given a point g

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Publication Date
Sat Sep 30 2017
Journal Name
Al-khwarizmi Engineering Journal
Neuro-Self Tuning Adaptive Controller for Non-Linear Dynamical Systems
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In this paper, a self-tuning adaptive neural controller strategy for unknown nonlinear system is presented. The system considered is described by an unknown NARMA-L2 model and a feedforward neural network is used to learn the model with two stages. The first stage is learned off-line with two configuration serial-parallel model & parallel model to ensure that model output is equal to actual output of the system & to find the jacobain of the system. Which appears to be of critical importance parameter as it is used for the feedback controller and the second stage is learned on-line to modify the weights of the model in order to control the variable parameters that will occur to the system. A back propagation neural network is appl

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Publication Date
Sat Oct 01 2011
Journal Name
Journal Of Engineering
EMBEDDED LENGTH OF STEEL BARS IN SELF COMPACTED CONCRETE (SCC)
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Experimental research was carried out on eight reinforced concrete beams to study the embedded length of the longitudinal reinforcement. Six beams were casted using self compacted concrete, and the two other beams were casted using normal concrete. The test was carried out on beams subjected to two point loads. The strain and the slip of the main reinforcement have been measured by using grooves placed during casting the beams at certain places. The measured strain used to calculate the longitudinal stresses (bond stress) surrounding the bar reinforcement, The study was investigated the using of self compacted concrete SCC on the embedded length of reinforcing bars, and comparing the results with normal concrete. The test results show th

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Publication Date
Mon Oct 01 2018
Journal Name
Journal Of Engineering
Performance of Self-Compacting Concrete Slab with Grinded Local Rocks
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The effect of using grinded rocks of (quartzite and porcelanite) as powder of (10 and 20) % replacement by weight of cement for self-compacting concrete slabs was investigated in this study. Five slabs with 15 concrete cubes were tested experimentally at 28 days to study the compressive strength, ultimate load, ultimate deflection, ductility, crack load and steel strain. The test results show that, the compressive strength improvement when replacement of local rock powder reached to (7.3, 4.22) % for (10 and 20) % quartzite powder and (11.3, 16.1) % for (10 and 20) % porcelanite powder, respectively compared to the reference specimen. The ultimate load percentage increase for slabs with (10 and 20) % rep

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Publication Date
Wed Aug 31 2022
Journal Name
Iraqi Journal Of Science
Self-adaptive Differential Evolution based Optimized MIMO Beamforming 5G Networks
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     The industrial factory is one of the challenging environments for future wireless communication systems, where the goal is to produce products with low cost in short time. This high level of network performance is achieved by distributing massive MIMO that provides indoor networks with joint beamforming that enhances 5G network capacity and user experience as well. Judging from the importance of this topic, this study introduces a new optimization problem concerning the investigation of multi-beam antenna (MBA) coverage possibilities in 5G network for indoor environments, named Base-station Beams Distribution Problem (BBDP). This problem has an extensive number of parameters and constrains including user’s location, required d

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Publication Date
Thu Aug 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Strategic relationship training to promote self-growth of the individual
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The main objective of the research is to identify the role of strategic training and its effect on enhancing the self-growth of the individual. Stratigic training represents a contemporary tendency. that is adopted by business organizations in carrying out their activities and tasks.

It is worth to mention, that self-growth of the individual is one of the indictors used to determine the ability of organization to a achieve its goals. 

The problem of the research has pointed out to the minimum awareness of the important role played by training strategy in enhancing the self-growth of the individual. The researcher has adopted an analytical approach, in collecting and analyses

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Publication Date
Fri Jan 10 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Oral hygiene practices and self-perceived halitosis among dental students
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Background: Halitosis represents a common dental condition, although sufferers are often not conscious of it. It is common among humans around the world and is usually caused by an accumulation of bacteria in the mouth as a result of gum disease, food, or plaque. This study aimed to determine the prevalence of oral hygiene practices, smoking habits and halitosis among undergraduate dental students and correlate the oral hygiene practices, oral health conditions to the prevalence of self perceived oral malodor. Materials and Methods: Clinical examination of 250 dental students and a self-administered questionnaire were included in this study. A questionnaire was developed to assess the self-reported perception of oral breath, awareness of b

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Publication Date
Mon Mar 07 2022
Journal Name
Journal Of Educational And Psychological Researches
Self-Reliance and Relation to Human Relations with Riyadh Teachers
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The research aims to identify the correlation between self-reliance and human relationship of kindergartens’ teachers. Total of (120) kindergarten teachers at Baghdad city. To collect needed data, two scales were administered to the research sample consisted of (25) items of each scale with (five) alternatives. The results revealed that teachers have good level of self-reliance and human relationship. There is a positive correlation between self-reliance and human relationship.

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Publication Date
Thu May 01 2014
Journal Name
Engineering And Technology Journal
Relativistic Self-Focusing of Intense Laser Beam in Magnetized Plasma
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