In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a

The Capparis spinosa L. is a species has a great interest in the field of traditional medicine for its pharmacological properties with many bioactive compounds. Our study is aiming at the recovery of this species through a phytochemical analysis and an evaluation of antibacterial and antioxidant activities of leaves of Capparis spinosa L. collected from natural habitats within the region of Al-Jadriya, Baghdad, Iraq. Phytochemical investigation demonstrated the presence of flavonoids, phenols, alkaloids, tannins, and glycosides in the methanolic extract of leaves. The quantitative analysis of total phenolic contents is being performed by Folin-Ciocalteau method and expressed in terms of gallic acid equivalents. C. spinosa exhibited progress

The construction industry in Iraq suffers from many problems, perhaps the most important of which is the delay in time and the increase in costs. Therefore, it was necessary to try to adopt a new methodology that would help in overcoming these problems. It was suggested to combine building information modeling with the agile management approach because this technique and methodology is modern and helps in reducing time and cost and improving quality. This paper aims to know the status of using Building Information Modeling (BIM) and Agile Project management (APM) in Iraq and to shed light on the merging of this integration, explaining the benefits, difficulties, and workflow practices, finding the most influencing factors on the tim

Cement is a major component in oil and gas drilling operations that is used to maintain the integrity of boreholes by preventing the movement of formation fluids through the annular space and outside the casing. In 2019, Iraq National Oil Company ordered all international oil and gas companies which are working in Iraq to use Iraqi cement (made in Iraq) in all Iraqi oil fields; however, the X-ray fluorescence (XRF) and compressive strength results in this study show that this cement is not matching with American Petroleum Institute (API) standards.

During this study, barolift was used to improve the properties of Iraqi cement used in oil wells at high pressure and high temperature (HPHT). Barolift (1 g) was added to cement admixt

Presupposition is the background belief that is known by both the speaker and the addressee, it is tied to particular words and aspects of the surface structure that act as linguistic triggers. The present study aims at investigating whether Iraqi fourth -year university students are able to recognize the English presuppositions through the meaning of these linguistic triggers .To fulfil the basic requirements of the study, the researcher has conducted a test . The results of the study have validated the hypothesis of the work and it is found that the linguistic triggers are important tools in recognizing presuppositions.    

The study has used Geographic Information Systems (GIS) data and Arc GIS software, to produce a new map. This map contains a spatial database of the newly constructed buildings, in the area of water resources engineering college, and using the above tool for updating contains the college in any time, also the map and browse all buildings individually or in clustered, for example, browsing geometric data,  statistical data and the plans of drawings, and make any necessary changes to these sectors immediately, or in the future, like the expansion of the study halls by constructed a new floor, or add supplements, prepare any electrical to any building, and  anything else.  The paper also, updates the old Google Earth image, f

Abstract

This work is considered the first study for the components of the Iraqi Leucaena leucocephala plant, where the different phytochemical compounds that present in the aerial parts were identified by using the gas chromatography/mass spectrometry technique (GC/MS). The type of the components and their concentration will differ according to the part of the plant used and the method of extraction (hot and cold). This study made a comparison in lupeol concentration that was identified and isolated from petroleum ether fractions of Leucaena leucocephala by using Gas Chromatography/Mass Spectrometry (GC/MS), High-performance thin-layer chromatography (HPTLC), and Preparative High-Performance Li

Evaluating the part of historical center in Baghdad City