Today, urban Stormwater management is one of the main concerns of municipalities and stakeholders. Drought and water scarcity made rainwater harvesting one of the main steps toward climate change adaptation. Due to the deterioration of the quality of urban runoff and the increase of impermeable urban land use, the treatment of urban runoff is essential. Best Management Practice (BMP) and Low Impact Development (LID) approaches are necessary to combat climate change consequences by improving the quantity and quality of water resources. The application of Bioswales along urban streets and roadways can reduce the stress on water resources, recharge groundwater and prevent groundwater pollution. While Sulaymaniyah City has a

This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated refere

This paper presents a new design of a nonlinear multi-input multi-output PID neural controller of the active brake steering force and the active front steering angle for a 2-DOF vehicle model based on modified Elman recurrent neural. The goal of this work is to achieve the stability and to improve the vehicle dynamic’s performance through achieving the desired yaw rate and reducing the lateral velocity of the vehicle in a minimum time period for preventing the vehicle from slipping out the road curvature by using two active control actions: the front steering angle and the brake steering force. Bacterial forging optimization algorithm is used to adjust the parameters weights of the proposed controller. Simulation resul

This work is concerned with the vibration attenuation of a smart beam interacting with fluid using proportional-derivative PD control and adaptive approximation compensator AAC. The role of the AAC is to improve the PD performance by compensating for unmodelled dynamics using the concept of function approximation technique FAT. The key idea is to represent the unknown parameters using the weighting coefficient and basis function matrices/vectors. The weighting coefficient vector is updated using Lyapunov theory. This controller is applied to a flexible beam provided with surface bonded piezo-patches while the vibrating beam system is submerged in a fluid. Two main effects are considered: 1) axial stretching of the vibrating beam that leads

     The time fractional order differential equations are fundamental tools that are used for modeling neuronal dynamics. These equations are obtained by substituting the time derivative of order  where , in the standard equation with the Caputo fractional formula. In this paper, two implicit difference schemes: the linearly Euler implicit and the Crank-Nicolson (CN) finite difference schemes, are employed in solving a one-dimensional time-fractional semilinear equation with Dirichlet boundary conditions. Moreover, the consistency, stability and convergence of the proposed schemes are investigated. We prove that the IEM is unconditionally stable, while CNM is conditionally stable. Furthermore, a comparative study between these two s

    A theoretical study was done in this work for Fatigue. Fatigue Crack Growth (FCG) and stress factor intensity range for Ti2 SiC 3 .  It also includes Generalized Paris Equation and the Fulfillment of his equation which promise that there is a relation between parameters C and n.          Simple Paris Equation was used through which we concluded the practical values of C and n and compared them with the theoretical values which have been concluded by Generalized Paris Equation.           The value of da/dN and ∆K for every material and sample were concluded and compared with the data which was used in the computer p

A new technique to study the telegraph equation, mostly familiar as damped wave equation is introduced in this study. This phenomenon is mostly rising in electromagnetic influences and production of electric signals.  The proposed technique called as He-Fractional Laplace technique with help of Homotopy perturbation is utilized to found the exact and nearly approximated results of differential model and numerical example of telegraph equation or damped wave equation in this article. The most unique term of this technique is that, there is no worry to find the next iteration by integration in recurrence relation. As fractional Laplace integral transformation has some limitations in non-linear terms, to get the result of nonlinear term in

The influence of Toxoplasma gondii on some biochemical parameters has lately gained an increasing attention. The aim of this study was to assess the levels of some biochemical parameters in Toxoplasma positive and negative subjects. An analytical case–control study was achieved in Baghdad for the period from October 2018 until March 2019. Forty nine females participated in this study, with an age range of 18-55 years. The participants were separated into two groups, namely Toxoplasma positive subjects (n=21) and Toxoplasma negative subjects (n=28), based on enzyme-linked immunosorbent assay (ELISA). Blood and serum samples were collected from all subjects to evaluate the serum levels of cholesterol, triglycerides, high density lip

 The effect of myeloid leukemia,  especially cute myeloid leukemia (AML), has been widely noticed on the parameters of liver and kidney functions and the levels of certain hormones. This study aimed to evaluate a number of biochemical parameters of liver and kidney functions and hormones in Iraqi subjects with newly diagnosed acute myeloid leukemia. Eighty newly diagnosed AML adult patients (40 males and 40 females) and forty healthy individuals (20 males and 20 females) with an age range of 16-75 years were involved in this study during their attendance at the Hematology Department of Baghdad Teaching Hospital/ Medical city in Baghdad province from March 2019 to February 2020. Blood samples were collected from all subjects for