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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
Mon Jan 13 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The Role of Capital Adequacy Standards According to Basel Accords (1,2) In the Credit Risks: Case Study
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Commercial banks represent the main pivot in financing national economic activity and its development. The capital represents safety margin to depositors and represents a defense line that protects bank work from dangers. Basel committee requirements represent protection and comprehensive supervision to bank activities for depositors, debtors and the bank. It provides trust in bank dealings and tackles activities of high dangers. The most prominent of these requirements are capital adequacy that concerns bank management and supervision and auditing bodies such as the central bank and protecting banks that suffer weakness in its vital important borrowing activity that reflects weakness in implementing borrowing policy .The purpose

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Publication Date
Thu Sep 01 2022
Journal Name
مجلة الدراسات المستدامة
مدى التزام المصارف الخاصة باليات تشكيل لجان التدقيق على وفق قانون الشركات وميثاق البنك المركزي العراقي
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ى ىلإ يقيبطتلا وبناج يف ثحبلا ىعس دقو ،ةصاخلا ةيراجتلا ؼراصملا يف ؽيقدتلا فاجل ؿيكشت ( تمض ةنابتسا ةرامتسا ـيمصت متخم تاعاطق ىمع ؿماكلاب ايعاجرتسا ـتو فايبتسا ةرامتسا ) 36 ةف فم فإ :ايمىا فاك تاجاتنتسلاا فم ةعومجمل ثحبلا ؿصوت دقو ،ؽيقدتلا فاجل ؿمعب ةمص تاذو تامومعملاب ةقثلا زيزعتو ةيلاملا ريراقتلا ةدوج فامض يف اىرود وى ؽيقدتلا فاجمل ةميملا ـايملا ا يف يرادلإاو يلاملا ءادلأا طبض ةيممع ىمع سكعني هرودب يذلاو

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
أثر التغيـيـر فـي رأس المال الممتلك على ربحيـة المصـارف: دراسة تحليلية لمصرف الشرق الأوسط العراقي للاستثمار
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Capital is a property bank is very important, because it is part of the liquidity in the bank, which is a line of defense in the bank and secured against any losses that may be exposed to the banks, and in the case of low value of any item of the assets and the lack of a dedicated absorb the decline, while play a key role to some extent in the financing of fixed assets and in particular the relative importance of fixed assets is relatively small compared to the size of bank  assets.                                           &n

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Publication Date
Tue Sep 30 2014
Journal Name
مجلة العلوم الاقتصادية والادارية - جامعة بغداد
تحليل الأثر الارتدادي و التفاعلي بين السياسة المالية و النقدية على التوازن الاقتصادي العام (IS-LM)‎
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يتناول هـذا البحث بالتحليل التفاعل و التنسيق بين السياستين الماليـة و النقديـة و اثر هذا التفاعل و التنسيق على الاستقـرار و النمـو الاقتصـادي، و كيف ان الآثار المالية للسياسة النقدية قد تحفز الإجراءات الخاصة بالسياسة النقدية و معالجة الآثـار الجانبيـة و طبيعـة التفاعل و الارتداد بين إجراءات كلتا السياستين و أثرهما في التـوازن الاقتصـادي العــام، و تم في ثنايا البحث توضيح مسوغات التنسيق و مدى ضرورة ذلك بهد

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Publication Date
Sat Oct 01 2016
Journal Name
Journal Of The College Of Basic Education
EC 80التأثير السمي للمبيد العشبي الكولد توبيك ,على غلاصم سمكة الكمبوزيا هولبروكي Gambusia holbrooki Girard 1859
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Publication Date
Sun Dec 18 2022
Journal Name
Journal Of The College Of Languages (jcl)
The Challenges of Translation from Persian to Arabic In Light of the Equivalence Theory of Mona Baker; Equivalence at the Word Level
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This dissertation studies the application of equivalence theory developed by Mona Baker in translating Persian to Arabic. Among various translation methodologies, Mona Baker’s bottom-up equivalency approach is unique in several ways. Baker’s translation approach is a multistep process. It starts with studying the smallest linguistic unit, “the word”, and then evolves above the level of words leading to the translation of the entire text. Equivalence at the word level, i.e., word for word method, is the core point of Baker’s approach.

This study evaluates the use of Baker’s approach in translation from Persian to Arabic, mainly because finding the correct equivalence is a major challenge in this translation. Additionall

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Publication Date
Wed Feb 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
Evaluating the performance of inspectors general offices in reducing corruption According to global indicators(Field research comparative)
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Abstract

        This research aims to evaluate the application of the inspectors general of global indicators offices according to the axles (leadership, strategy and planning, employees, partners and resources, process management) and through the assumption main research which states that (there is an application for global indicators to evaluate performance in the offices of the ministries under study) which are subdivided into five sub-hypotheses according to the classification and division of the five axes of the checklist.

The researchers have taken refuge in the process of assessing the performance of the check list which included global i

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Publication Date
Thu Mar 01 2012
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
النجاح الستراتيجي للمنظمــــات على وفــق ابعــــــــــاد القيــــــــــــادة التحويليـــــــــــة: دراســـــــــــة استطلاعيــــــــــــة لعينـــــــــــــة من افراد الهيئـــــــــــة العامــــــــــــة للضرائب
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In today's world the role of leadership in the control factors of the organization different and advancement, and that the possession of the human ability to the development and creation and innovation varies from one individual to another depending on experience; and levels of performance and intellectual; and his mental and physical and other such factors can create a kind of differentiation between the built humans, and this distinction creates our leaders are able to influence others and have the wisdom and connect active individuals and organizations. as the need for organizations of all sizes and levels of leadership transformation is an urgent need to link the application of the various plans and strategies device which direction

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Publication Date
Mon Feb 23 2026
Journal Name
Sciences Journal Of Physical Education
المشكلات النفسية المترتبة على جائحة كوفيد 19 لدى طالبات وتدريسيات جامعة بغداد الممارسات وغير الممارسات للرياضة
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Publication Date
Mon Jan 01 2024
Journal Name
المجلة العراقية للعلوم الاقتصادية
قياس وتحليل تأثير صدمات أسعار النفط الخام على راس المال البشري في العراق للمدة (1970 – 2021)
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قياس وتحليل تأثير صدمات أسعار النفط الخام على راس المال البشري في العراق للمدة (1970 – 2021)