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alkej-710
UAV Control Based on Dual LQR and Fuzzy-PID Controller
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This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.

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Publication Date
Wed May 01 2019
Journal Name
The Iraqi Journal For Information And Documentation Studies
The role and importance of scientific research in creating new knowledge and its impact on developing the cognitive capabilities of information and librarians and their Employees
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The research aims at identifying the importance of scientific research for researchers and in creating new knowledge، development and utilization of mental and cognitive energies and developed them with the ability to research، extrapolation، meditation and then conclusion. The information was collected by interviewing the Secretary-General of the Central Library and by distributing questionnaire forms to the (33) teaching staff of the College of Higher Education. The responses of the society were analyzed the result and the recommendations were the most important 1. Information specialist and all employees of the administrators and technicians in the centers of information sources (libraries) and in the field are considered scientific r

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
THE INFLUENCE OF SUPPLEMENTING ELLAGIC ACID TO BROILER DIETS ON PRODUCTIVITY AND WHITE BLOOD CELL DIFFERENTIAL COUNTS: THE INFLUENCE OF SUPPLEMENTING ELLAGIC ACID TO BROILER DIETS ON PRODUCTIVITY AND WHITE BLOOD CELL DIFFERENTIAL COUNTS
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This study has been carried out in the animal field of the college of agricultural engineering sciences, university of Baghdad, for the period from 12/15/2021 to 1/26 /2022 for 42 d, to investigate the effect of adding different levels of ellagic acid to the diet of broilers, on some physiological characteristics &  oxidation indicators in meat compared to vitamin C in meat,  225 Ross 308 chicks were used, divided randomly to five treatments such us: T1: control group without additives to diet, &  the other T2, T3, T4 was added  ellagic  acid (

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Publication Date
Wed Jun 30 2021
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
A COMPARATIVE STUDY OF THE CONSUMERS ATTITUDE ON THE MEAT HYGIENE SLAUGHTERED IN AND OUTSIDETHE SLAUGHTER HOUSEES: A COMPARATIVE STUDY OF THE CONSUMERS ATTITUDE ON THE MEAT HYGIENE SLAUGHTERED IN AND OUTSIDETHE SLAUGHTER HOUSEES
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The study was conducted to assess the attitude and awareness of a sample of people regarding the indiscriminate slaughter and its effects on health and the environment compared with slaughtering  in a slaughterhouse. The sample consisted of 120 persons from six equal professional groups contacted with the butchery labour (livestock keeper, truck driver, butcher, veterinarian, shopkeeper and consumer). The age ranged 22-76 years old, mean 52±10  years, lived ≥ 5 years in the Baghdad city. The results showed that there is a preference for slaughtering inside the slaughterhouse due to the presence of veterinary examination, slaughtering and preparing meat in a healthy, easy-to-clean places, unlike the indiscriminate sla

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Publication Date
Mon Aug 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Using of concepts "conservatism & accrual" and their reflection in enhancing of quality of financial reporting
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The use of Conservatism  significant impacts on the financial statements and thus on financial reporting which is produced by these lists so Rate Some of the professionals that the principle of accounting while Rate of others as a constraint, and brought this category based on the uses of this restriction sometimes used the accountant this restriction and especially with the uncertainties in the Sometimes it may collide with some of the cases in which the accountant may be forced to leave in custody as a result of emergence of economic events that gave rise to rights or future commitments should be disclosed.

The emergence in custody mainly was due to the uncertainty and its essence is to report on a

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Publication Date
Wed Jan 29 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
العوامل المؤثرة في انخفاض الطلب على الوثائق الفردية للتأمين على الحياة: بحث استطلاعي في شركة التأمين العراقية العامة
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             Seen in Iraq that the volume of insurance activity in the case of a clear deterioration and a sharp decline in demand for life insurance, because of reluctance by senior members of the Iraqi society on the demand for life insurance. The study was descriptive approach in identifying and addressing variables, namely the (perception of risk need of the individual trends in personal income of the individual insurance awareness of the individual customs and traditions of communal religious belief of the individual age and sex of the individual methods promotional company competitive alternatives to the insurance service life inflation rate service life insurance) indepen

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Publication Date
Wed May 01 2024
Journal Name
مجلة العلوم الانسانية والاجتماعية
كيفية توزيع حصيلة البيع الجبري على الدائنين
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Publication Date
Sun Jan 01 2012
Journal Name
Journal Of The College Of Languages (jcl)
أدوات النفي الداخلة على الجملة التحويلية الاسمي
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Research revealed the most important things:


1 - that the sentence if the nominal manufacturing according to one of the main frames for the construction of the original sentence or the nucleus called the obstetric and called the nominal or actual.


2 - is not an element of denial. Some of them counted in the Acts the people of Basra are missing and some of them are counted conjunction Menem people of Kufa and promise of the tools of the exception and some of them promise to benefit neglected exile is not Flaaml have at this team.


 - What precluding it have a characteristic which they enter the actual sentence and never let an impact on the act, and the intervention of the nominal sentence Fathol

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Publication Date
Fri Jun 20 1930
Journal Name
College Of Islamic Sciences
(Which has been criticized in the Holy Quran
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Numerical and linguistic methods were varied in interpretation unless they were in accordance with the grammar
Texts of speech, and this was one of the methods used by linguists and linguists as well
What they call them (the opposite is the opposite), and this is what the word "pregnancy"
Is a synonym for the term "interpretation." This term was often used for syntax
The physical and linguistic cause when an act exceeds the character in which it is known to be infringed, or when
The use of a tool with a little use of it, especially by scientists who knew about it
Pay attention to grammatical errors. The Arabs may have uttered the word and wanted to denounce it
He went even further when the eraser carried away his abr

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Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
اضاءات لتنمية القدرة على اختيار الملابس الجاهزة
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Publication Date
Fri Dec 31 2021
Journal Name
مجلة الاقتصاد الخليجي
أثر فروقات الضرائب المؤجلة على القوائم المالية
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نتيجة للتطور و انفتاح الاسواق الاقتصادية عالميا ظهرت اهمية الافصاح في القوائم المالية و اعدادهايكونمبني على ( العدالة و الشفافية ) في اظهار البنود الواردة فيها ، و لان هذه القوائم تعد لا كثر من جهة مستفيدة ( اصحاب المصلحة ) سواء كانوا مستثمرين او مقرضين او هيئات حكومية حيث يجب اعدادها بطريقة اكثر شفافية و بدون تحيز لجهة دون اخرى ،هدفت الدراسة الى التعرف على اهم الفروقات الضريبية المؤجلة التي تنشأ في الوحدات الا

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