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Simulation of a Self-Balancing Platform on the Mobile Car
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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, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude in (X-axis, Y-axis, or both axis) under the influence of road disturbance. To simulate the self-balanced platform's performance during the tilt, an integration between Solidworks, Simscape, and Simulink toolboxes in MATLAB was used. The platform's dynamic model was drawn in SolidWorks and exported as a STEP file used in the Simscape Multibody environment. The system is controlled using the proportional-integral-derivative (PID) controller to maintain the platform leveled and compensate for any road disturbances. Several road disturbances scenarios were designed in the x-axis, y-axis, or both axis (the pitch and roll angles) to examine the controller effectiveness. The simulation results indicate that that the platform completed self-balancing under the effect of disturbance (10° and -10°) on the X-axis, Y-axis, and both axes in less than two milliseconds. Therefore, a proposed self-balancing platform's simulated model has a high self-balancing accuracy and meets operational requirements despite its simple design.

 

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Publication Date
Mon Jan 03 2022
Journal Name
Iraqi Journal Of Science
Accuracy Assessment of 3D Model Based on Laser Scan and Photogrammetry Data: Introduction
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    A three-dimensional (3D) model extraction represents the best way to reflect the reality in all details. This explains the trends and tendency of many scientific disciplines towards making measurements, calculations and monitoring in various fields using such model. Although there are many ways to produce the 3D model like as images, integration techniques, and laser scanning, however, the quality of their products is not the same in terms of accuracy and detail. This article aims to assess the 3D point clouds model accuracy results from close range images and laser scan data based on Agi soft photoscan and cloud compare software to determine the compatibility of both datasets for several applications. College of Scien

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Publication Date
Mon Oct 30 2017
Journal Name
International Journal Of Science And Research
Measurements of X-Ray Dose Delivered at Different Depths Applied on Water Phantom
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Background: Radiotherapy, is therapy using ionizing radiation in order to deliver an optimal dose of either particulate or electromagnetic radiation to a particular area of the body with minimal damage to normal tissues. The source of radiation may be outside the body of the patient (external beam irradiation) or it may be an isotope that has been implanted or instilled into abnormal tissue or a body cavity. Called also radiotherapy. The aim of work studies the relationship between the depth dose and the high photon xray energies (6MeV and 10MeV). Patients and methods: in our work, we studied the dose distribution in water phantom given at different depths (zero-18) cm deep at1cm intervals treated with different field size (5×5-,10×1

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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Subsurface Investigation of Tuba Oil Field Depending on 2D Seismic Reflection South Iraq
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This study deals with the seismic reflection interpretation of Cretaceous Formations in Tuba oil field, southern Iraq, including structural and stratigraphic techniques. The study achieved by using Geofram , Geolog and Petrel software. The interpretation process, of 2-D seismic data and well logs have been used. Based on well logs and synthetic traces two horizons were identified and picked which are the tops of Mishrif and Zubair Formations. These horizons were followed over all the area in order to obtain their structural setting. Structural interpretation indicates that the Tuba oil field is an anticline structure as well as the presence of normal fault near Mishrif Formation trending NE-SW. Information from the wells appeared Mishrif

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Publication Date
Sun Jan 14 2018
Journal Name
Journal Of Engineering
Optimum Design of Power System Stabilizer based on Improved Ant Colony Optimization Algorithm
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This paper presents an improved technique on Ant Colony Optimization (ACO) algorithm. The procedure is applied on Single Machine with Infinite Bus (SMIB) system with power system stabilizer (PSS) at three different loading regimes. The simulations are made by using MATLAB software. The results show that by using Improved Ant Colony Optimization (IACO) the system will give better performance with less number of iterations as it compared with a previous modification on ACO. In addition, the probability of selecting the arc depends on the best ant performance and the evaporation rate.

 

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Publication Date
Sun Mar 01 2020
Journal Name
Iraqi Journal Of Physics
Optimization Procedures using Effect of Etalon Finesse and Driving Term on Optical Bistability
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        In this work, analytical study for simulating a Fabry-Perot bistable etalon (F-P cavity) filled with a dispersive optimized nonlinear optical material (Kerr type) such as semiconductors Indium Antimonide (InSb). Because of a trade off between the etalon finesse values and driving terms, an optimization procedures have been done on the InSb etalon/CO laser parameters, using critical switching irradiance (Ic) via simulation systems of optimization procedures of optical cavity. in order to achieve the  minimum switching power and faster switching time, the optimization parameters of the finesse values and driving terms on optical bistability and switching dynamics must be studied.

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Effect of aqueous red cabbage extract on uricase activity isolated from Pseudomonas aeruginosa
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Separation of uricase from Pseudomonas aeruginosa was done using (70%) satu-ration ammonium sulphate, and purification of this enzyme was done by ion ex-change chromatography on DEAE- cellulose column and eluted with linear NaCl (0-1M). Partial purified uricase gave an activity of (4.9 u/ml), protein concentration of (0.56 mg/ml), specific activity of (8.75 unit/mg) with purification folds (8.4) and a yield of (48%). The maximum purified uricase activity was detected at 35ºc and pH 8.5 with (0.12 mM.uric acid). The results shown that red cabbage extract (RCE) contain flavonoides which contain phenolic compounds and anthocyanines which glycoslated with mono or dimolecules of saccharides, while test for alkaloids, ster-oids, saponins and

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Publication Date
Sun Apr 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Toxicologic Pathology Study of uranyl acetate by oral intubation on Sprague – Dawelly Rats.
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Background: Urany1 acetate (UA) mostly a kidney poison or chemical toxic and not nearly so much radiological also is not accumulative toxic, so it is not concentrated in the food chain nor would it cause pathological condition due to increase levels from expomers. Therefore, the study aimed to detect the target organ as most of the lethal dose (LD50) male rats died within 24 hours.
Methods: Study was done on (120) male rats of 2 months old, at varying dosage level of uranyl acetate ranging from LD 50 of 2.5 and 1.5gm/kg and varying dosage level, by oral intubation. There were (40) rats for LD 50 were given single oral dose from 2.5 to 1.5 gm /kg every day. Eighty rats for the main study, (20) rats each gr

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Publication Date
Mon May 28 2018
Journal Name
Iraqi Journal Of Science
Analytical Study of climate changes effect on wind speed in Al- Nasiriya, Iraq
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     The ambient temperature is the major parameter that influences wind speed. When temperature rises, air will be extended and wind will flow with different speeds in all directions, increasing of temperature means that wind speed will be increased and vice versa. The relative humidity and atmospheric pressure affected with temperature, too. Climate changes making significant effects on the atmospheric temperature. In this project, the data of thirty four years (1981 – 2004) has been analyzed to get an idea about the changes occurred in the meteorological parameters in Al-Nasiriya city, which was chosen because it has a distinctive wind speed.

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Extractive Multi-Document Summarization Model Based On Different Integrations of Double Similarity Measures
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Currently, the prominence of automatic multi document summarization task belongs to the information rapid increasing on the Internet. Automatic document summarization technology is progressing and may offer a solution to the problem of information overload. 

Automatic text summarization system has the challenge of producing a high quality summary. In this study, the design of generic text summarization model based on sentence extraction has been redirected into a more semantic measure reflecting individually the two significant objectives: content coverage and diversity when generating summaries from multiple documents as an explicit optimization model. The proposed two models have been then coupled and def

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Publication Date
Sun Jan 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Shrinkage Estimation for R(s, k) in Case of Exponentiated Pareto Distribution
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   This paper concerns with deriving and estimating the reliability of the multicomponent system in stress-strength model R(s,k), when the stress and strength are identical independent distribution (iid), follows two parameters Exponentiated Pareto Distribution(EPD) with the unknown shape and known scale parameters. Shrinkage estimation method including Maximum likelihood estimator (MLE), has been considered. Comparisons among the proposed estimators were made depending on simulation based on mean squared error (MSE) criteria.

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