Preferred Language
Articles
/
bRZFBocBVTCNdQwCCC9i
Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions
...Show More Authors

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.

Scopus Clarivate Crossref
View Publication
Publication Date
Sun Sep 01 2019
Journal Name
Https://iopscience.iop.org/journal/1742-6596
Heavy Metals Causing Toxicity in Fishes
...Show More Authors
Abstract<p>The heavy metals mainly include Pb, Hg, Cd, Cr, Cu, Zn, Mn, Ni, Ag, etc. The heavy metals,Pb,Cu,Zn are considered most toxic to humans, fishes and environment. highly concentrations of heavy metals are harmful They destabilize ecosystems because of their bioaccumulation in organisms, and toxic effects on biota and even death in most living beings. All heavy metals, in spite some of them are essential micronutrients, have their toxic effects on living organisms via metabolic interference and mutagenesis. The bioaccumulation of toxic metals can happen in the body and food chain. So, the toxic metals generally exhibit chronic toxicity. The heavy metals like Pb has significant toxic effec</p> ... Show More
Scopus (49)
Crossref (27)
Scopus Crossref
Publication Date
Sat Nov 01 2014
Journal Name
Journal Of Cosmetics, Dermatological Sciences And Applications
Kerosene-induced panniculitis in Iraqi patients
...Show More Authors

KE Sharquie, AA Noaimi, MS Younis, BS Al-Sultani, Journal of Cosmetics, Dermatological Sciences and Applications, 2014 - Cited by 5

View Publication
Publication Date
Tue May 16 2023
Journal Name
Journal Of Engineering
Parallel Routing in Wireless Sensor Network
...Show More Authors

The limitations of wireless sensor nodes are power, computational capabilities, and memory. This paper suggests a method to reduce the power consumption by a sensor node. This work is based on the analogy of the routing problem to distribute an electrical field in a physical media with a given density of charges. From this analogy a set of partial differential equations (Poisson's equation) is obtained. A finite difference method is utilized to solve this set numerically. Then a parallel implementation is presented. The parallel implementation is based on domain decomposition, where the original calculation domain is decomposed into several blocks, each of which given to a processing element. All nodes then execute computations in parall

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
Detecting Outliers In Multiple Linear Regression
...Show More Authors

It is well-known that the existence of outliers in the data will adversely affect the efficiency of estimation and results of the current study. In this paper four methods will be studied to detect outliers for the multiple linear regression model in two cases :  first, in real data; and secondly,  after adding the outliers to data and the attempt to detect it. The study is conducted for samples with different sizes, and uses three measures for  comparing between these methods . These three measures are : the mask, dumping and standard error of the estimate.

View Publication Preview PDF
Crossref
Publication Date
Mon Jan 01 2018
Journal Name
Journal Of The College Of Languages (jcl)
Self-discovery in Paulo Coelho’s Aleph
...Show More Authors

There is no doubt that complexities and ambiguities exist in the human minds. The need to unravel and solve those mysteries and the foggy actualities of life’s existence has been one of Paulo Coelho’s (1947-present) biggest concern. In almost all his novels, Coelho shows how people should dig deep into the mysteries of life in order to find a true understanding to their existence. In doing so, a true kind of enlightenment and purification is reached and the quest for self-discovery or self-realization is attained.

    The paper tackles one of Paulo Coelho’s novels Aleph (2011) which is considered as an autobiographical reading to signify the connection between himself and God. It was a phase

... Show More
View Publication Preview PDF
Publication Date
Thu Jan 01 2015
Journal Name
مجلة دراسات قانونية
Consumer protection in the electronic contract
...Show More Authors

Abstract: Consumer protection in electronic contracts is of great importance in Iraqi law, as there are detailed legislations that enhance consumer rights and provide mechanisms for compensation when necessary. In Iraq, the Consumer Protection Law of 2010 regulates these rights and ensures the availability of sufficient and clear information to consumers.

View Publication
Publication Date
Thu Jun 03 2004
Journal Name
Journal Of Engineering
Heritage and Art Creativity in architecture
...Show More Authors

Publication Date
Sun Oct 07 2012
Journal Name
Journal Of Educational And Psychological Researches
Graduate Unemployment In Iraq , Problems , Solution
...Show More Authors

There Are Many  Communities Suffering Of Unemployment Due To Has  Great Social And Economic Impact, As Well As The Psychological Effects Devastating And Serious And That May Threaten States  With Collapse And  Leading Human Displacement And Loss And Crime, And Often Derive Unemployed People To Practice  Bad Habits Such As Gambling, Alcohol And Drug Abuse To Escape From Their Reality To Their Concerns And Problems.

It Should Be Noted, That The Largest Percentage Of Unemployment In Developing Societies Represented By The Educated Class Of University Graduates, And This Is Something Painful.

The Unemployed Know That (Each Capable Of Working And Who Want To Look For And Accept Prevailing Bricks) Is Th

... Show More
View Publication Preview PDF
Publication Date
Tue Feb 05 2019
Journal Name
Journal Of The College Of Education For Women
A trade union movement in Britain
...Show More Authors

Labor movement is considered important in Britain because it is an international phenomenon of the feudal system and one of the flowerings of the era of the capitalist machine. At the beginning of the 18th century, the world witnessed a change and progress in many aspects of the industrial fields such as the different means of production .this era is called the industrial revolution which especially appeared in Britain and extended to other areas of the world .it leads to many changes in Europe and participated in different economic, political and cultural and social fields. and it has a very important role in progress and development but its disadvantage is that it is exploited by the capitalists to achieve their special rights .in othe

... Show More
View Publication Preview PDF
Publication Date
Tue Jan 01 2019
Journal Name
Journal Of Communications
SDN Implementation in Data Center Network
...Show More Authors

View Publication
Scopus (17)
Crossref (13)
Scopus Crossref