<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>
Scattering and Absorption Efficiencies of Si-Ag Coaxial nanowire (NWs) were simulated using Mie-Lorentz scattering approach. The thickness of Ag shell was fixed at around 10 nm with Si core diameter of (10, 20, 30 and 40) nm. Scattering Efficiencies and Absorption Efficiencies of core-shell nanowire as a function of wavelength (300-2000 nm) within various core diameters were calculated. The study shows a remarkable behavior of scattering for un-polarized light in Silicon nanowire (core only) with wavelength of (320- 500nm). In other words, adding Ag shell has decreased the scattering efficiency of core-shell nanowire for all diameters.
Homomorphic encryption became popular and powerful cryptographic primitive for various cloud computing applications. In the recent decades several developments has been made. Few schemes based on coding theory have been proposed but none of them support unlimited operations with security. We propose a modified Reed-Muller Code based symmetric key fully homomorphic encryption to improve its security by using message expansion technique. Message expansion with prepended random fixed length string provides one-to-many mapping between message and codeword, thus one-to many mapping between plaintext and ciphertext. The proposed scheme supports both (MOD 2) additive and multiplication operations unlimitedly. We make an effort to prove
... Show MoreThis paper introduces a generalization sequence of positive and linear operators of integral type based on two parameters to improve the order of approximation. First, the simultaneous approximation is studied and a Voronovskaja-type asymptotic formula is introduced. Next, an error of the estimation in the simultaneous approximation is found. Finally, a numerical example to approximate a test function and its first derivative of this function is given for some values of the parameters.
Background: Several studies were carried out on association of infection with male infertility, which revealed great variations in the prevalence of genital infection in different parts of the world. This work was designed to study the effect of infection on semen parameters in a sample of Iraqi infertile males.
Methods: A sample of 400 infertile male patients attending the High Institute for Embryo Research and Infertility Treatment for laboratory investigations and treatment were selected. This study was carried out during the period Nov. 2002 to April 2003, inclusive. Seminal fluid analysis was performed on samples obtained by masturbation into a glass container after 48 to 72 hours from of abstinence from&
Background: Breast Cancer is the commonest type of malignancy in Iraq. The Iraqi Cancer Registry displays an obvious trend for the disease to affect younger women with advanced stages at the time of presentation. This report presents a review on the main demographic characteristics and clinicopathological parameters in Iraqi patients diagnosed with breast cancer.
Patients & Methods: The study was carried out on 721 out of a total of 5044 patients (14.3%) who complained of palpable breast lumps that were diagnosed as cancer. The procedure for tumor nuclear DNA Ploidy assessment was performed by means of Image Cytometry. Immuno-cytochemical and histochemical assays were applied for the determination of
The advancements in Information and Communication Technology (ICT), within the previous decades, has significantly changed people’s transmit or store their information over the Internet or networks. So, one of the main challenges is to keep these information safe against attacks. Many researchers and institutions realized the importance and benefits of cryptography in achieving the efficiency and effectiveness of various aspects of secure communication.This work adopts a novel technique for secure data cryptosystem based on chaos theory. The proposed algorithm generate 2-Dimensional key matrix having the same dimensions of the original image that includes random numbers obtained from the 1-Dimensional logistic chaotic map for given con
... Show MoreABSTRACT Pulmonary alveolar microlithiasis is rare infiltrative pulmonary disease characterized by intra-alveoli deposition of microliths. We present a familial case of an adult female with complaint of progressive shortness of breath on exertion. Chest radiograph showed innumerable tiny dense nodules, diffusely involving both lungs mainly the lower zones. High-resolution CT scan illustrated widespread intra-alveolar microliths, diffuse ground-glass attenuation areas and septal thickening predominantly in the basal regions. Chest radiograph is all that is needed for the diagnosis of this case but CT scan was done to demonstrate the extent and severity of this disease
In Production and Operations Management the specialists have tried to develop a strategy to counter the risks arising from the activities of the organization and of waste of various types and therefore the risk management in the contemporary framework represents a phenomenon of new quality, and can not be this phenomenon to take practical dimensions, but the development of culture of the organization towards the risks and deal with all aspects and paint ways to address them within an integrated program, and requires new skills and systems provide accurate information capable of coordination between the various parties within the organization.
The research aims to develop a blu
... Show MoreLet R be a 2-torision free prime ring and ?, ?? Aut(R). Furthermore, G: R×R?R is a symmetric generalized (?, ?)-Biderivation associated with a nonzero (?, ?)-Biderivation D. In this paper some certain identities are presented satisfying by the traces of G and D on an ideal of R which forces R to be commutative