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
Tue Aug 31 2021
Journal Name
Iraqi Geological Journal
Structural Interpretation of Yamama and Naokelekan Formations in Tuba Oil Field Using 2D Seismic Data
...Show More Authors

This research includes structure interpretation of the Yamama Formation (Lower Cretaceous) and the Naokelekan Formation (Jurassic) using 2D seismic reflection data of the Tuba oil field region, Basrah, southern Iraq. The two reflectors (Yamama and Naokelekan) were defined and picked as peak and tough depending on the 2D seismic reflection interpretation process, based on the synthetic seismogram and well log data. In order to obtain structural settings, these horizons were followed over all the regions. Two-way travel-time maps, depth maps, and velocity maps have been produced for top Yamama and top Naokelekan formations. The study concluded that certain longitudinal enclosures reflect anticlines in the east and west of the study ar

... Show More
View Publication
Scopus (1)
Scopus Crossref
Publication Date
Sun Jan 01 2023
Journal Name
Ibero- American Journal Of Exercise And Sports Psychology
THE EFFECT OF SPECIAL EXERCISES USING TWO DESIGNED DEVICES IN DEVELOPING SOME DEFENSIVE HANDBALL SKILLS
...Show More Authors

Scopus (1)
Scopus
Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Treatment Missing Data of Daily and Monthly Air Temperature in Iraq by Using Mean Method
...Show More Authors

Frequent data in weather records is essential for forecasting, numerical model development, and research, but data recording interruptions may occur for various reasons. So, this study aims to find a way to treat these missing data and know their accuracy by comparing them with the original data values. The mean method was used to treat daily and monthly missing temperature data. The results show that treating the monthly temperature data for the stations (Baghdad, Hilla, Basra, Nasiriya, and Samawa) in Iraq for all periods (1980-2020), the percentage for matching between the original and the treating values did not exceed (80%). So, the period was divided into four periods.  It was noted that most of the congruence values increased, re

... Show More
View Publication
Scopus Crossref
Publication Date
Tue Jan 08 2019
Journal Name
Iraqi Journal Of Physics
Photoinduced interfacial charge transfer processes in solar photocatalysis degradation of methylene blue using nanostructured ZnO
...Show More Authors

In this research, design of advanced material for sunlight conversion requires focused research to obtain efficient photocatalytic system. Nanostructured ZnO was synthesized using spin coating technique. The structural, morphological and optical properties of annealed nanostructured ZnO thin film at 390 Co for 3 hours were characterized by x-ray diffraction, atomic force microscope AFM and UV-VIS spectrophotometer. Nanostructured ZnO was applied for removal Methylene Blue (MB) dye from water using sunlight induced photocatalytic process. Overall degradation of MB/ZnO was achieved after 120 minutes of sunlight irradiation while it needs more time for MB alone. The reaction rate constant fit pseudo first order for MB/ZnO degradation was 0.

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Sep 30 2023
Journal Name
Iraqi Journal Of Science
Determination of Alkaloids Constituents in Some Ferns by Using High Performance Liquid Chromatography Technique – Iraq
...Show More Authors

    Ferns are considered as important medical herbs. They produce a wide range of secondary metabolites that could be useful in treating different diseases. However, they still remain underexplored in medical aspects in Iraq. Hence, the purpose of this study was to identify alkaloids components in the methanol extracts of four fern species (Asplenium ceterach L., A. scolopendrium L., Cheilanthes pteridioides (Richard) C. Chr. from Malakan region in Erbil Governorate and Equisetum ramosissimum Desf. from Chemi Rezan in Sulaimaniyah Governorate,  of northen Iraq during March - June 2018. The research was conducted by using High performance liquid chromatography (H

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Sun Mar 26 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Spectrophotometric Determination of Nitrofurantoin Drug in its Pharmaceutical Formulations Using MBTH as a Coupling Reagent
...Show More Authors

A direct, sensitive and efficient spectrophotometric method for the determination of nitrofurantoin
drug (NIT) in pure as well as in dosage form (capsules) was described. The suggested method was
based on reduction NIT drug using Zn/HCl and then coupling with 3-methyl-2-benzothiazolinone
hydrazone hydrochloride (MBTH) in the presence of ammonium ceric sulfate. Spectrophotometric
measurement was established by recording the absorbance of the green colored product at 610 nm.
Using the optimized reaction conditions, beer’s law was obeyed in the range of 0.5-30 μg/mL, with
good correlation coefficient of 0.9998 and limits of detection and quantitation of 0.163 and 0.544
μg/mL, respectively. The accuracy and

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Nov 13 2019
Journal Name
International Journal Of Research In Pharmaceutical Sciences
Prediction of maternal diabetes and adverse neonatal outcome in normotensive pregnancy using serum uric acid
...Show More Authors

Diabetes mellitus, with adverse neonatal events are challenging issues to all obstetricians and pediatricians, where uric acid could play a vital role. We aimed to assess the relationship and prognostic benefits of serum uric acid measured at about 20 weeks’ gestation in normotensive pregnancy, with subsequent maternal diabetes, and neonatal complications. All singleton normotensive pregnant women with normal blood glucose, serum creatinine, and weight before pregnancy, whom attended Medical City Hospital, Department of Obstetrics and Gynecology in Baghdad, were involved and regarded as the case group, on the condition that their serum uric acid measured at 20 weeks’ gestation > 3 mg/dl, but if ≤ 3 mg/dl, they would be regi

... Show More
View Publication Preview PDF
Scopus (8)
Crossref (4)
Scopus Crossref
Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
Transfer Factor of Radionuclides from Soil to Leafy Vegetables in Iraq Using Gamma Ray Spectroscopy
...Show More Authors

      The activity concentration of natural radioactivity levels, of artificial cesium and transfer factor from soil to plants in agricultural areas at Al- Yusiefya region were determined by using NaI (Tl) detector spectrometer. Ten species of leafy plants have been selected: Spinach, Parsley, Watercress, Lettuce, Rashad, Radish, Green onion, Turnip green, Green beet and Mint. The mean activity concentrations of 238U, 232Th, 40K and 137Cs in leafy vegetable samples were  12.4±3.8, 14.8±4.7, 283±93 and 1.06±0.99  Bg/kg, and in soil samples were 15.9±4.3, 16.1±5.2, 298.5±3.9, and 1.11±0.37 Bq/kg. The radiation hazard indices were evaluated (radium

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Mon Jan 27 2020
Journal Name
Iraqi Journal Of Science
Localization of the Optic Disc in Retinal Fundus Image using Appearance Based Method andVasculature Convergence
...Show More Authors

Optic Disc (OD) localization is a basic step for the screening, identification and appreciation of the risk of diverse ophthalmic pathologies such as glaucoma and diabetic retinopathy.In fact, the fundamental step towards an exact OD segmentation process is the success of OD localization. This paper proposes a fully automatic procedure for OD localization based on two of the OD most relevant features  of high-intensity value and vasculature convergence. Merging ofthese two features renders the proposed method capable of localizing the OD within the variously complicated environments such as the faint disc boundary, unbalanced shading, and the existence of retinal pathologies like cotton wall and exudates,which usually share the same

... Show More
View Publication Preview PDF
Scopus (6)
Crossref (4)
Scopus Crossref
Publication Date
Tue May 01 2018
Journal Name
Journal Of Engineering
Prediction of Municipal Solid Waste Generation Models Using Artificial Neural Network in Baghdad city, Iraq
...Show More Authors

The importance of Baghdad city as the capital of Iraq and the center of the attention of delegations because of its long history is essential to preserve its environment. This is achieved through the integrated management of municipal solid waste since this is only possible by knowing the quantities produced by the population on a daily basis. This study focused to predicate the amount of municipal solid waste generated in Karkh and Rusafa separately, in addition to the quantity produced in Baghdad, using IBM SPSS 23 software. Results that showed the average generation rates of domestic solid waste in Rusafa side was higher than that of Al-Karkh side because Rusafa side has higher population density than Al-Karkh side. T

... Show More
View Publication Preview PDF
Crossref (2)
Crossref