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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
Wed Sep 01 2021
Journal Name
Social Science And Humanities Journal
Formality in Electronic Contracts
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The law contains many types of formal contracts, including the sale of real estate contract, the mortgage and the mortgage insurance on real estate, and the contract for the sale of machinery and vehicles and the contract of sale of the ship. The purpose of this research is to highlight the concept of form, because of the growing importance that has become and which began to expand the expansion of contracts and the multiplicity of new contracts have become necessary to the legal texts to address the effects of legislative treatment, especially electronic contracts, which form has an important role in the conclusion for the privacy it enjoys. Where the vast and accelerating development in today's world, which knows no boundaries except God'

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Publication Date
Sun Sep 15 2019
Journal Name
Al-adab Journal
Romanticism in Virtual World
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When Romanticism had passed since its appearance at the end of the eighteenth century, it seemed that this important intellectual and philosophical development had been absent but not really lost. Romanticism remained in the poems of poets, philosophers and writers even after they had escaped cultural life in general. If it is difficult to itemize all the principles of romance, the apparent is the assertion of individualism and the love of autism with nature and its potential with its mysteries as well as the glorification of emotion, compared to the mental orientation of the writers in the seventeenth century in their classical approach. The language is the most important to what the Romans have proven in their poetry and their artistic wo

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Publication Date
Mon Sep 30 2019
Journal Name
College Of Islamic Sciences
Envy in Islamic Thought
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Envy is a heart disease, a serious disease and a great evil that hurts its owner before it hurts others. The first crime that occurred in the creation was because of the envy between Abel and Cain.

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Publication Date
Mon Oct 06 2014
Journal Name
Journal Of Educational And Psychological Researches
sexual stereotyping in Kindergarten
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The current research aims to know the sex-stereotyping among Kindergarten , male and female, study was conducted on a sample of 400 boys and girls by (200) males and  (200), females Kindergarten  from age (4-6 years) in the province of Baghdad, for the , academic year (2013-2014) In order to achieve the goals of research, the researcher built two scales measure of the prototypical male sexuality and a measure of the prototypical female sexual and be in its final form of (36) items to measure sexual stereotyping male (35) items to measure sexual stereotyping of females, were sure of the validity scale by presentation to a group of experts as well as the Statistical analysis of the resear

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Publication Date
Mon Feb 01 2010
Journal Name
Alustath Journal
Persuasive Language in Blurbs
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Advertisement is a general phenomenon in our everyday life. In most cases, it is established for commercial purposes i.e. it is oriented for certain goals and waiting for results. One form of advertisement is a blurb. In this study, the researcher applies Fonton and Saint-Dizier (2010) and Hymes (1962) models on 23 blurbs. These two models are chosen on consideration of accounting grammatical categories and speech events respectively. The study tends to answer the following question: How do blurb’s writers exploit language to convince the reader to buy the intended book? Therefore, the aim of the study can be stated as analyzing the blurbs according to these two models and finding which category scores higher and serves in ad

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Publication Date
Thu May 05 2022
Journal Name
Al-kindy College Medical Journal
Spinal Tuberculosis in Children
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Tuberculosis continues to be the leading cause of morbidity and mortality, with an estimated annual incidence of 10.4 million worldwide. It has been estimated that 10% of patients with extrapulmonary tuberculosis have musculoskeletal involvement, with the spine being the most common. Spinal tuberculosis (TB) accounts for 50% of cases of musculoskeletal tuberculosis.

Spinal tuberculosis is the result of infection with Mycobacterium tuberculosis. It is a secondary infection, the primary lesion of which is in the lungs, genitourinary system, or gastrointestinal tract and can be active or latent. Involvement of the vertebral segment is the result of hematogenous spread of infection along the arterial pathway or Batson's vei

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Crossref
Publication Date
Tue May 16 2023
Journal Name
International Journal Of Online And Biomedical Engineering (ijoe)
Watermarking in Medical Image
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Medical image security is possible using digital watermarking techniques. Important information is included in a host medical image in order to provide integrity, consistency, and authentication in the healthcare information system. This paper introduces a proposed method for embedding invisible watermarking in the 3D medical image. The cover medical image used is DICOM which consists of a number of slices, each one representing a sense, firstly must separate the ROI (Region of Interest) and NROI (Not Region Of Interest) for each slice, the separation process performed by the particular person who selected by hand the ROI. The embedding process is based on a key generated from Arnold's chaotic map used as the position of a pixel in

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Publication Date
Mon Jan 08 2024
Journal Name
Al-academy
Visual discourse in television
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Visual discourse in cinema and television is an expressive medium that carries its audio and visual elements and is effective in influencing the memory of the recipient, according to multiple patterns of forms and representations aimed at persuasion, influence, entertainment, enjoyment and knowledge. This speech will not pass by the recipient without difficulty, as the multiplicity of forms and techniques of image presentation and the diversity of contents derived from different beliefs, concepts, ideas and perceptions may sometimes reach intersections and conflicts, which is reflected in the form of the screen and the theory of television. This motivates us to know the ways in which audio-visual discourse is produced on television, whic

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Publication Date
Sun Aug 07 2022
Journal Name
Chemical Methodologies
Lead and Cadmium Elements Detected in Milk Samples from Local Markets in Baghdad
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Chemical Methodologies (CHEMM)

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Publication Date
Fri Mar 03 2023
Journal Name
World Journal Of Biology Pharmacy &health Science
Ventricular septal defect in children and adults by echocardiography study in Iraqi patients
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A ventricular septal defect (VSD) is defined as a communication between the left and right ventricles or between the left ventricle and the right atrium. VSDs are amongst the most common abnormalities of the heart. They can be present in isolation or in association with other congenital cardiac abnormalities. This is study done with the aim to evaluate the types, size, associated CHD with ventricular septal defect in children and adolescent in two cardiac centers (Medical City Complex cardiac clinics, Ibn Al Nafaes teaching hospital) in Baghdad - Iraq