This paper deals with a Twin Rotor Aerodynamic System (TRAS). It is a Multi-Input Multi-Output (MIMO) system with high crosscoupling between its two channels. It proposes a hybrid design procedure that combines frequency response and root locus approaches. The proposed controller is designated as PID-Lead Compensator (PIDLC); the PID controller was designed in previous work using frequency response design specifications, while the lead compensator is proposed in this paper and is designed using the root locus method. A general explicit formula for angle computations in any of the four quadrants is also given. The lead compensator is designed by shifting the dominant closed-loop poles slightly to the left in the s-plane. This has the effect of enhancing the relative stability of the closed-loop system by eliminating the oscillation in its transient part but at the expense of greater rise time. However, for some applications, long rise time may be an allowable price to get rid of undesired oscillation. To demonstrate the proposed hybrid controller's performance numerically, a new performance index, designated by Integral Reciprocal Time Absolute Error (IRTAE), is defined as a figure to measure the oscillation of the response in its transient part. The proposed controller enhances this performance index by 0.6771%. Although the relative enhancement of the performance index is small, it contributes to eliminating the oscillation of the response in its transient part. Simulation results are performed on the MATLAB/Simulink environment.
The contract for iease public hospitals to the private sector is one of the administrative contracts in which all the elements of the administrative contract are available. It is signed by the administration represented by the Minister of Health. It is presented to a public hospital which is one of the public facilities that provide medical services. The Ministry of Health may also apply to the Leased Hospital. It may also amend the contract in accordance with the public interest, in addition to the possibility of dissolving the contract without recourse to the courts in case the tenant violates the terms of the contract, The State resorted to it in the event that it is unable to provide medical services within the required range, as it
... Show MoreThe electrocoagulation process became one of the most important technologies used for water treatment processes in the last few years. It’s the preferred method to remove suspended solids and heavy metals from water for treating drinking water and wastewater from textile, diary, and electroplating factories. This research aims to study the effect of using the electrocoagulation process with aluminum electrodes on the removal efficiency of suspended solids and turbidity presented in raw water and optimizing by the response surface methodology (RSM). The most important variables studied in this research included electrode spacing, the applied voltage, and the operating time of the electrocoagulation process. The samples
... Show MorePulsar stars are rotating Neutron stars can be divided into two types Millisecond and Normal Pulsars. In this work the magnetic field are concentrated depends on the period (P), and Period derivative (P) for a sample Normal, Millisecond and Radio stars which adopted. In addition, the values of spin down luminosity and Heating rate are determined by depending on (Ostriker and Gunn) model. The results showed that older Millisecond define as having greater ages specified how long pulsars lives at that ages very long period pulsars to be observable have particularly large surface magnetic field. The results indicate that spin down of luminosity for Millisecond and Normal star must due to the main energy loss rotation axis to align with magne
... Show MoreThe diabetic foot is considered one of the long term diabetes complications caused by a defect in blood vessel and nerve system. This requires dealing with diabetic foot with professional medical care, so as to prevent its development in advanced stages which could end to gangrene and amputation of the foot. This study has been initiated through follow-up of twelve patients with diabetes and the presence various occlusions in lower limb artery. One patient from them was chosen for investigation, this patient has stenosis in popliteal artery and presence multiple stenosis in superficial femoral artery. This study based on analysis present case of patient and prediction for progress stenosis in superficial femoral artery till arrive semi t
... Show MoreAbstract:
This Research aims to define role of the system of evaluating the performance for higher leadership in determining the level of institutional work quality in the Ministry of Agriculture, by measuring system efficiency of evaluating the performance for higher leadership and its effect in institutional work quality, the searcher reached through the theoretical framing and involved studies to build default plan define the relation between Research variables formed from system of evaluating leadership performance as independent variable contains six subsidiary dimensions: (Polarization, evaluating the performance of personnel, training, motivation, se
... Show MoreThe aim of this paper, is to design multilayer Feed Forward Neural Network(FFNN)to find the approximate solution of the second order linear Volterraintegro-differential equations with boundary conditions. The designer utilized to reduce the computation of solution, computationally attractive, and the applications are demonstrated through illustrative examples.
This study includes 15 male healthy and 30 male patients diagnosed with prostate
cancer inciude (18 cases in stages I & II and 12 cases in III – stage). All the patients
were suffered from urinary tract infection ( UTI) . The mean age is (57.33± 5.02)
years range ( 45-63) years, as cases and controls Patients with prostate cancer were
treated admits an Educational Baghdad Hospital, and Central Public Health
Laboratory and Radiation and Nuclear Medicine Hospital in Baghdad, during
period 1/6/2008 to 1/12/2010 are included in this study. The markers Prostatespecific
antigen (CA PSA), Interleukins ( IL -1 , IL-2, IL-3, IL-5) and
Immunoglobulins ( IgG, IgM, IgE) are estimated by using ELISA method. The
Cl
In this research, the use of natural materials like wool and cannabis as intermediate reinforcement for prosthetic limbs due to their comfort, affordability, and local availability was discussed. As part of this study on below-the-knee (BK) prosthetic sockets, two sets of samples were made using a vacuum method. These sets were made of natural fiber-reinforced polymer composites with lamination 80:20: group (Y) had 4 perlon, 1 wool 4 perlon, and group (G) had 4 perlon, 1 cannabis 4 perlon. The two groups were compared with a socket made of polypropylene. Tensile testing was used to determine the mechanical characteristics of the socket materials. The Y group has a yield stress of 17 MPs, an ultimate strength of 18.75 MPa, and an elastic
... Show MoreSimulation Study
Abstract :
Robust statistics Known as, Resistance to mistakes resulting of the deviation of Check hypotheses of statistical properties ( Adjacent Unbiased , The Efficiency of data taken from a wide range of probability distributions follow a normal distribution or a mixture of other distributions with different standard deviations.
power spectrum function lead to, President role in the analysis of Stationary random processes, organized according to time, may be discrete random variables or continuous. Measuring its total capacity as frequency function.
Estimation methods Share with
... Show MoreThe morphological characters of Satureja L. species which is grown in Iraq were studied in detail ,starting from root,stem,leaves ,inflorescences ,flowers and fruits .The current study revelid that the characters of calyx and corolla have great important taxonomically ,besides the variations in the shape and size of leaves and bract ,figures were drawen ,schedules and plates have been prepared.The indumentums study showed that the trichomes have important taxonomically value of both glandular and eglandular hairs.