Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactional point between the fingers of gripper and payload, inside the impedance control, is achieved using model predictive control (MPD) approach.

Horizontal wells have revolutionized hydrocarbon production by enhancing recovery efficiency and reducing environmental impact. This paper presents an enhanced Black Oil Model simulator, written in Visual Basic, for three-dimensional two-phase (oil and water) flow through porous media. Unlike most existing tools, this simulator is customized for horizontal well modeling and calibrated using extensive historical data from the South Rumaila Oilfield, Iraq. The simulator first achieves a strong match with historical pressure data (1954–2004) using vertical wells, with an average deviation of less than 5% from observed pressures, and is then applied to forecast the performance of hypothetical horizontal wells (2008–2011). The result

Characterization of the heterogonous reservoir is complex representation and evaluation of petrophysical properties and application of the relationships between porosity-permeability within the framework of hydraulic flow units is used to estimate permeability in un-cored wells. Techniques of flow unit or hydraulic flow unit (HFU) divided the reservoir into zones laterally and vertically which can be managed and control fluid flow within flow unit and considerably is entirely different with other flow units through reservoir. Each flow unit can be distinguished by applying the relationships of flow zone indicator (FZI) method. Supporting the relationship between porosity and permeability by using flow zone indictor is ca

In the recent years, remote sensing applications have a great interest because it's offers many advantages, benefits and possibilities for the applications that using this concept, satellite it's one must important applications for remote sensing, it's provide us with multispectral images allow as study many problems like changing in ecological cover or biodiversity for earth surfers, and illustrated biological diversity of the studied areas by the presentation of the different areas of the scene taken depending on the length of the characteristic wave, Thresholding it's a common used operation for image segmentation, it's seek to extract a monochrome image from gray image by segment this image to two region (for

This research aims at investigating pupils’ ability in using discourse markers which are identified in the English textbooks of secondary schools. Four texts are chosen from third intermediate class. The four texts are short stories of different topics.                                                  

        This research hypothesizes that there are no statistical significant differences among Iraqi intermediate pupils’ ability in using textual

جمعت عينات من إدرار الجمال والخراف والأبقار واستعملت كعوامل مضادة للبكتريا باستعمال طريقة كأس الغراء وباستعمال 20 عزلة من عزلات بكتريا Pseudomonas aeruginosa . أجريت محاولات مختلفة لأجراء هذا الاختبار لغرض أيجاد أفضل تحضير لإدرار الجمال والخراف والأبقار يعطي قدرة أعلى على تثبيط نمو البكتريا مقارنة مع البنسلين بدءأ من الإدرار غير مخفف المرشح ثم بالإدرار المخفف . اظهرت الن

جاء هذا البحث في اربع مباحث تناول المبحث الاول الاطار العام للبحث ،وتناول المبحث الثاني (الدراسة النظرية) بيان تاريخ المعجمات اللغوية والتعريف بها وباهدافها ووظائفها وانواعها والمادة التي تناولتها وتنظيمها وترتيبها ،وتناول المبحث الثالث(الدراسة العملية) التعريف بالمعجمات اللغوية الورقية والمحوسبة المتوافرة في مكتبات عينة البحث وبيان مدى استعمالها من طلبة الدراسات العليا ، وتناول المبحث الرابع الاستنتاج

The research aims to identify the obstacles facing the application of electronic management in our university libraries, including the central library of the University of Baghdad and the central library of Al-Mustansiriya University, the research sample, as they are among the main libraries that used electronic technologies in managing some of their work and in providing their services, and they have a website via the Internet. The research relied on the case study method to identify the obstacles by visiting the two libraries, interviewing their managers and employees responsible for the departments, and answering inquiries about the obstacles that prevent the application of electronic management in order to identify them and find appropr

واقع العلاقات التركية الالمانية والبحث عن نموذج للاستقرار