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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
Mon Apr 01 2024
Journal Name
Academic Science Journal
Comparison between MDDV and VADD routing protocols in VANET (Case Study)
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Routing is the process of delivering a packet from a source to a destination in the network using a routing algorithm that tries to create an efficient path. The path should be created with minimum overhead and bandwidth consumption. In literature, routing protocols in VANET were categorized in many ways, according to different aspects. In the present study, we prefer the classification based on the number of hops to reach the destination node. In literature, these are single-hop and multi-hops protocols. We first discuss the two types and then compare the MDDV (multi-hops protocol) with VADD (single-hop protocol). The comparison is theoretically and experimentally implemented by providing a network environment consisting of SUMO, VIENS and

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Publication Date
Wed Oct 17 2018
Journal Name
Advances In Animal And Veterinary Sciences
Gentamicin enhances toxA expression in Pseudomonas aeruginosa isolated form cow mastitis
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The present study was undertaken in order to investigate the role of gentamicin in the gene expression of toxA in Pseudomonas aeruginosa isolated from cow mastitis. A total of ten P. aeruginosa strains originally isolated from cows infected with mastitis. Agar dilution methodology was performed to determine the minimal inhibitory concentration of gentamicin, all of which developed resistance toward gentamicin. The findings presented here demonstrated that all these strains harboured toxA depending on PCR-based assay. Nonetheless, RT-PCR technique revealed a wide variation in expression of toxA. Moreover, the cultivation of P. aeruginosa in the presence of gentamicin, significantly (P< 0.05), induced the expression of toxA, in addition to th

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Publication Date
Thu May 15 2014
Journal Name
Monthly Notices Of The Royal Astronomical Society
Gravitational lensing in WDM cosmologies: the cross-section for giant arcs
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The nature of the dark sector of the Universe remains one of the outstanding problems in modern cosmology, with the search for new observational probes guiding the development of the next generation of observational facilities. Clues come from tension between the predictions from Λ cold dark matter (ΛCDM) and observations of gravitationally lensed galaxies. Previous studies showed that galaxy clusters in the ΛCDM are not strong enough to reproduce the observed number of lensed arcs. This work aims to constrain the warm dark matter (WDM) cosmologies by means of the lensing efficiency of galaxy clusters drawn from these alternative models. The lensing characteristics of two samples of simulated clusters in the Λ warm dark matter and ΛCDM

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Publication Date
Sun Oct 01 2017
Journal Name
Diyala Journal For Pure Science
Employing difference technique in some Liu estimators to semiparametric regression model
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Semiparametric methods combined parametric methods and nonparametric methods ,it is important in most of studies which take in it's nature more progress in the procedure of accurate statistical analysis which aim getting estimators efficient, the partial linear regression model is considered the most popular type of semiparametric models, which consisted of parametric component and nonparametric component in order to estimate the parametric component that have certain properties depend on the assumptions concerning the parametric component, where the absence of assumptions, parametric component will have several problems for example multicollinearity means (explanatory variables are interrelated to each other) , To treat this problem we use

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Publication Date
Fri Jan 01 2010
Journal Name
Positioning
Fluid Inclusions Usage for Assessing Oil Migration in Duhok, North Iraq
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Publication Date
Sat Jun 24 2017
Journal Name
Fac Med Baghdad
Crude Anthrax Protective Antigen Enhances Immunity For Salmonella Typhimurium in Mice
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Background: Non-host-adapted Salmonella serovar Typhimurium is a facultative intracellular bacterium, which invades and multiplies within mononuclear phagocytes in liver, spleen, lymph nodes and Peyer’s plaques. Salmonella infection is a crucial medical and veterinary problem globally. S. Typhimurium causes various clinical symptoms, from asymptomatic infection to typhoid-like syndromes in infants or highly susceptible animals, for instance mice. Objective: The present study was carried out to investigate the efficacy of anthrax protective antigen (PA)as a potent adjuvant mixed with killed Salmonella Typhimurium (S.T.) to enhance the immunization capacity of the last. Materials and Methods: Two groups of mice were immunized with either th

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Publication Date
Tue Nov 01 2022
Journal Name
Alustath
Metrical Phonology in Classical English and Arabic Poetry: A Contrastive Study
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One of the prominent goals of Metrical Phonology Theory is providing stress of poetry on the syllable-, the foot-, and the phonological word- levels. Analysing poetry is one of the most prominent and controversial issues for the involved number and types of syllables, feet, and meters are stable in poetry compared to other literary texts. The prosodic seeds of the theory have been planted by Firth (1948) in English, while in Arabic يديهارفلا in the second half of the eighth century (A.D.) has done so. Investigating the metrical structure of poetry has been conducted in various languages, whereas scrutinising the metrical structure of English and Arabic poetry has received little attention. This study aims at capturing the

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Publication Date
Wed Sep 28 2022
Journal Name
Journal Of The College Of Education For Women
Adapting the Grimms: Going Against Patriarchy in Singh’s Movie Mirror Mirror
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Many cinematic adaptations were produced for the Grimms’ “Little Snow-White” (1812) including Mirror Mirror movie (2012), the contemporary version adapted by Taresm Singh. Singh’s version was able to depict the modern reality of women and went against patriarchy by embracing feminist ideologies of the fourth-wave feminism. Therefore, he challenged the ideologies of the mainstream cinema dominated by the patriarchal élite’s capitalist mode of production that still adhere to the stereotyped patriarchal image of women’s ‘victimization,’ ‘objectification’ and ‘marginalization,’ which did not represent women’s modern reality anymore. This paper, however, is a qualitative study aimed to prove that the femini

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Publication Date
Sun Feb 03 2019
Journal Name
Journal Of The College Of Education For Women
Educational values in the Quran: Surat Luqman and AL- Hujurat model
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The paper has been summarized into the following:
Chapter one: the researcher deals with the problem of the paper, the most important points and the terminology. Chapter two: the researcher deals Surat Luqman from the Aya 12-19 , (the demonstration, the explanations, the values ). In chapter three the researcher deals with Surat AL-Hujurat from Aya 6-12, (the demonstration, the explanations, the values ). Chapter four include (the educational properties for individual and society, the educational applications, and the most important indicators in the texts). Chapter five include the results , the conclusions and the recommendations. One of the basic results that the Quran is a complete educational curriculum, and the texts of Surat Lu

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Publication Date
Fri May 03 2024
Journal Name
International Journal Of Economics And Finance Studies
THE CREDIT BUREAU SYSTEM'S ROLE IN ACHIEVING THE BANKING SOUNDNESS PRINCIPLE
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The regulatory authorities have implemented various standards to address the risks associated with credit facilities. One important aspect is the use of the Credit Bureau System (CBS), which plays a central role in ensuring banking soundness. Thus, the study seeks to explore the role of CBS in attaining banking soundness as a fundamental principle. The research sample consisted of three Iraqi banks spanning from 2010 to 2022. The research findings indicated that the implementation of CBS had a significant positive impact on achieving Banking Soundness (BS) rates in my bank. Furthermore, the asset quality index's value increased significantly, surpassing the standard value of 5%. It became evident that the banks needed to formulate a well-de

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