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Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions
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We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.

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Publication Date
Sun Jan 02 2022
Journal Name
Al-khwarizmi Engineering Journal
Cellulose Fibers Dissolution in Alkaline Solution
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In this study, NaOH dissolution method was applied to dissolve cellulose fibers which extracted from date palm fronds (type Al-Zahdi) taken from Iraqi gardens. In this process, (NaOH)-solution is brought into contact with the cellulose fibers at low temperature. Experiments were conducted with different concentrations of NaOH (4%, 6%, 8% and12%) weight percent at two cooling bath temperatures (-15 oC) and (-20oC). Maximum cellulose dissolution was 23 wt% which obtained at 8 wt% concentration of NaOH and at cooling bath temperature of -20oC. In order to enhance the cellulose fibers dissolution, the sample was pretreated with Fenton's reagent which consists of

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Publication Date
Sun Nov 11 2018
Journal Name
Journal Of College Of Education For Women
Analyzing Conversation in Children’s Short Stories
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Conversation analysis has long been the concern of many linguists who work in the field of discourse analysis. In spite of the fact that there are many researches have been done in the field of short stories but up to the researcher knowledge the investigation of the selected short stories has not been studied yet. Hence, this paper aims at answering the following questions: what are the features of children’s short stories language and the differences between short stories of four years old and those of six years old.  Hence, the devices used by the story tellers in reciting the short stories should be observed. Thus, the researcher has consulted the models presented by Johnson and Fillmore (2010) to show tenses and sentence str

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Publication Date
Thu Mar 14 2019
Journal Name
Al-khwarizmi Engineering Journal
Cellulose Fibers Dissolution in Alkaline Solution
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In this study, NaOH dissolution method was applied to dissolve cellulose fibers which extracted from date palm fronds (type Al-Zahdi) taken from Iraqi gardens. In this process, (NaOH)-solution is brought into contact with the cellulose fibers at low temperature. Experiments were conducted with different concentrations of NaOH (4%, 6%, 8% and12%) weight percent at two cooling bath temperatures (-15 oC) and (-20oC). Maximum cellulose dissolution was 23 wt% which obtained at 8 wt% concentration of NaOH and at cooling bath temperature of -20oC. In order to enhance the cellulose fibers dissolution, the sample was pretreated with Fenton's reagent which consists of hydrogen peroxide (H2O2), oxalic acid (C2H2O4) and ferrous sulfate (FeSO4). This

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Publication Date
Thu Oct 27 2022
Journal Name
2022 International Conference On Engineering And Emerging Technologies (iceet)
Telemedicine Framework in COVID-19 Pandemic
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Publication Date
Sat Apr 01 2017
Journal Name
Al–bahith Al–a'alami
Privacy Violation in Social Media Sites
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Technological superiority of the means of communication and media has allowed these methods to dominate and are replaced by alternative positon of traditional media. The internet with its advantages and benefits benefited in various areas of life, especially media and achieve what no previous technology could achieve and any technology what comes after it can't be isolated from the internet. Today, the internet is the cornerstone of communication and connection in the world and the most important means of public and personal communication at the same time. The interactive feature of the internet and the cancelation of space and time restrictions create a new media that allowed everyone to express what they wanted freely. The internet app

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Publication Date
Sun Jun 11 2017
Journal Name
Al-academy
Ceremony in Waleed Awni's Dramatic Shows
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The modern dramatic forms used technical works represented by going back to the primitive origins of drama which participated in establishing it. Those employments were results of philosophical thoughts through which many scholars stimulated philosophical tendencies call for miss for the past and going back to the social life through which intimate relations are interacting. The most important thing that the scholars relied on was ceremony as a social phenomenon which people gather around it through sentimental communication relate their concerns in addition to considering it as an expressive style carries artistic characteristics can be benefitted of in the dramatic show.
These thoughts were represented in the performing activity of

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Publication Date
Mon Feb 01 2021
Journal Name
Pakistan Journal Of Medical & Health Sciences
Entamoeba histolytica, identification in asymptomatic infection
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Background: Reliable detection the etiological agent of amoebic dysentery and extra-intestinal amoebiasis have Public health importance specially in asymptomatic human and animals, Since the acquisition of pet dogs in the recent period has become widespread in our city. Aim: To give correct perception of infection rate in asymptomatic individuals (human and domestic dogs) for the first aspect and about detection and diagnosis of the pathogenic species of Entamoeba histolytica from another morphologically similar and commensal one using the molecular technique in stool samples of asymptomatic individuals the second aspect. Methods: During the study period from the beginning of September 2020 to the end of February 2021, a total of 95 stool s

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Publication Date
Wed Feb 04 2004
Journal Name
5th Scientific Conference Of Engineering College In University Of Baghdad, 25th -27th Of February, Baghdad, Iraq
Technology and lighting in interior Design.
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Publication Date
Fri Oct 06 2017
Journal Name
Journal Of Engineering
Constructional Efficiency in Al_Ahwaar Traditional Architecture
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Constructional Efficiency in architecture in general is one of the most important standard success for any structure and a measure of its continuity and relevance across time and space. Given the importance of Al-Ahwaar environment that owned the spatial, environmental, economic and social elements had a prominent impact in creation of architecture patterns form to create special architectural and structural environment, which had many qualities and ingredients that contributed to its continuity and existence over the years. From the premise that man and his environment is the main goal to any architectural style,

Thus the research problem focusing on the lack of clarity of the previous literatures in its st

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Publication Date
Thu Jan 01 2009
Journal Name
Journal Of The College Of Languages (jcl)
Discourse Markers in English spoken Language
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English, like any other language, has a number of such discourse markers including well, yes, surely, on the contrary, so and nevertheless. They are lexical items or grammatical forms typically serve to relate one utterance to another in discourse.
Discourse markers are considered as cues or signals for the reader or the hearer that make cohesion and coherence, In fact, these markers are found in various grammatical forms such as interjections, linking adverbials, greetings and farewells….etc. Discourse markers. Play a very important role, not only in conversation, but in written text as well.

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