Preferred Language
Articles
/
joe-1522
Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm

The need for quick airborne transportation is critical, especially in emergencies. Drones with suspended payloads might be used to accomplish quick airborne transportation. Due to the environment or the drone's motion, the slung load may oscillate and lead the drone to fall. The altitude and attitude controls are the backbones of the drone's stability, and they must be adequately designed. Because of their symmetrical and simple structure, quadrotor helicopters are one of the most popular drone classes. In this work, a genetic algorithm with two weighted terms fitness function is used to adjust a Proportional-Integral-Derivative (PID) controller to compensate for the altitude and attitude controllers in a quadrotor drone with a slung load.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Synthesis and Characterization of Several New Homopolymers, Copolymers and Phenolic Resins of N-Substituted Citraconisoimides

Four N-substituted citraconisoimides were prepared via dehydration of the corresponding prepared citraconamic acids using N,N\-dicyclohexylcarbodiimide as dehydrating agent. The prepared citraconisoimides were introduced in free radical homopolymerization producing four new poly citraconisoimides. Also the prepared citraconisoimides were introduced in free radical copolymerization with three vinylic monomers including acrylonitrile, methylmethacrylate and methylacrylate producing new copolymers having different physical properties. Moreover two new phenolic resins containing pendent citraconisoimide moiety were prepared via condensation polymerization of N-(hydroxyphenol)citraconisoimide with formaldehyde. The new homopolymers and copoly

... Show More
View Publication Preview PDF
Publication Date
Wed May 18 2016
Journal Name
مجلة كلية التربية الاساسية
Effect of citric and glutamic acids on physiological characteristics and yield of Vicia faba L.

The field experiment was conducted in garden of Department of Biology, College of Education for Pure Sciences (Ibn- Al-Haitham), University of Baghdad during the season of growth (2014-2015). The experiment aimed to study the effect of citric acid with two concentration 10, 20 mg. L-1 and glutamic acid with two concentration 50, 100 mg. L-1 on growth and yield of broad bean (Vicia faba). The results were showed an increased in plant height, leaves number. Plant dry weight, chlorophyll content flowers number, absolute growth rate, crop growth rate, legume length and dry weight, legumes number, seed dry weight compared with control plants.

Publication Date
Mon Oct 01 2012
Journal Name
The Iraqi Journal Of Agricultural Science
EVALUATION AND PERFORMANCE COMPARISON OF MOLD BOARD AND DISC PLOW IN SOILS OF CENTRAL IRAQ

The experiment was conducted to evaluate and performance comparison for moldboard and disk plows in central of Iraq in 2011. Three factor were used in this study included Two types of plows included moldboard and disk plows which represented main plot , three forward speeds of the tillage was second factor included 1.85, 3.75 and 5.62 km / h which represented sup plot , and three levels of soil moisture was third factor included 21 , 18 and 14 % to determined data actual plow depth , Practical productivity, Volume of disturbed soil, Field efficiency , Slippage percentage in silt clay loam soil with depth 22 cm were studied in the experiment Split – split plot design under randomized complete block design with three replications using

... Show More
Preview PDF
Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Preparation and identification of oxidatin derivaties for Salts and acids of bile for medical uses

The purified prepared compounds were identified through different methods of identification i.e, I.R, UV-vi^ble-spectroscopy in addition to (coloured tests) Calculation of the sum of OH groups. TLC techniques were also used to test the purity and the speed ofthe rate of flow (RF).

View Publication Preview PDF
Publication Date
Sat Dec 11 2021
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
The Formulation and Characterization of Nimodipine Nanoparticles for the Enhancement of solubility and dissolution rate

Nimodipine (NMD) is a dihydropyridine calcium channel blocker useful for the prevention and treatment of delayed ischemic effects. It belongs to class ? drugs, which is characterized by low solubility and high permeability. This research aimed to prepare Nimodipine nanoparticles (NMD NPs) for the enhancement of solubility and dissolution rate. The formulation of nanoparticles was done by the solvent anti-solvent technique using either magnetic stirrer or bath sonicator for maintaining the motion of the antisolvent phase. Five different stabilizers were used to prepare NMD NPs( TPGS, Soluplus®, HPMC E5, PVP K90, and poloxamer 407). The selected formula F2, in which  Soluplus 

has been utilized as a stabilizer, has a par

... Show More
Scopus (7)
Crossref (5)
Scopus Crossref
View Publication Preview PDF
Publication Date
Sun Jul 03 2005
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Purification and characterization of DNA from whole blood of children with ALL and normal children

Summary:
Background: The acute lymphocytic leukemias (All) make up about 76% of children leukemias . lymphoid leukemias occur more often than expected in patients with immunodeficiency , chromosomal abnormalities & ataxia telangiectasia . A number of chnges occur in preneoplastic & neoplastic cells as the progress towards a greater degree of malignancy . Nuclear DNA may be used as an aid in diagnosis , to predict prognosis & to determent of certain neoplasia.
Aim of the work: is to purify DNA from whole blood of predict & normal children & to characterize it by spectral studies.
Patients & Methods: Fifteen EDTA-treated blood samples of children with acute lymphoblastic leukemia (ALL) and the same number f

... Show More
Crossref
View Publication Preview PDF
Publication Date
Sun Jan 13 2019
Journal Name
Iraqi Journal Of Physics
Preparation and studying of some properties of polymer composites reinforced with natural and artificial fibers

This work concerns the thermal and sound insulation as well as the mechanical properties of polymer matrix composite reinforced with glass fibers. These fibers may have dangerous effect during handling, for example the glass fibers might cause some damage to the eyes, lungs and even skin. For this reason the present work, investigates the behavior of polymer composite reinforced with natural fibers (Plant fibers) as replacement to glass fibers. Unsaturated Polyester resin was used as matrix material reinforced with two types of fibers, one of them is artificial (Glass fibers) and the other type is natural (Jute, Fronds Palm and Reed Fibers) by hand lay-up technique. All fibers are untreated with any chemical solvent. The Percentage of mi

... Show More
Crossref (1)
Crossref
View Publication Preview PDF
Publication Date
Thu Mar 16 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Annealing Temperature and Thickness on the Structural and Optical Properties of CdSeThin Films

CdSe alloy has been prepared successfully from its high purity elements. Thin films of this alloy with different thicknesses (300,700)nm have been grown on glass substrates at room temperature under very low pressure (10-5)Torr with rate of deposition (1.7)nm/sec by thermal evaporation technique, after that these thin films have been heat treated under low pressure (10-2)Torr at (473,673)K for one hour. X-ray patterns showed that both CdSe alloy and thin films are polycrystalline and have the hexagonal structure with preferential orientation in the [100] and [002] direction respectively. The optical measurements indicated that CdSe thin films have allowed direct optical energy band gap, and it increases from (1.771.84) eV and from (1.6-1

... Show More
View Publication Preview PDF
Publication Date
Mon May 28 2018
Journal Name
Iraqi Journal Of Science
Quantitative Interpretation of Gravity and Magnetic Anomalies in West of Tikrit City and Surroundings, Iraq

     A quantitative interpretation of gravity and magnetic anomalies in west of Tikrit city and surroundings, has been completed utilizing Grav2dc and Mag2dc (2D, 2.5D) forward techniques. The modeling has been carried out along four profiles, two NW-SE profiles along the distinct gravity residual anomalies and two NE-SW profiles along the magnetic residual anomalies. The most geologic plausible model that matches the data was picked. The model along the gravity profile (A-A') reveal faulting of the basement, whereas along the profiles B-B', C-C' and D-D' did not present faulting. The models comprise of two rock units, the first is the sedimentary cover and the second unit i

... Show More
View Publication Preview PDF
Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
Synthesis, Characterization and Study of The Liquid Crystalline Behavior of Four and Six Heterocyclic Compounds

The new compounds synthesized by sequence reactions starting from a reaction of 4-hydroxybenzaldehyde with 1,5-dibromo pentane to produce dialdehyde)I(
.Then compound )I( reacted with different aromatic amines to give schiff bases )II-IV(,thereafter added acetyl chloride to schiff bases to yield N-acyl derivatives)V-VII(.While1,3-diazetine derivatives)VIII-X( were synthesized from the reaction of N-acyl derivatives with sodium azide.The reaction of thiourea with N-acyl compounds led to formation of thiourea derivatives (XI-XIII).Finally, the pyrimidine compounds )XIV-XVI( were synthesized by ring closure reaction of compounds(XI-XIII) with diethyl malonate.The synthesized compounds were characterized by measurements of melting points,

... Show More
View Publication