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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.

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Publication Date
Fri Jun 26 2020
Journal Name
Iraqi Journal Of Agricultural Sciences
IMPACT OF Conocarpus erectus L. FERTILIZER, AND SOME MICRONUTRIENTS ON GROWTH AND PRODUCTION OF POTATO

This study was aimed to determine the impact of Conocarpus erectus L. compost fertilizer, and some micronutrients on growth and production of potato. This research was conducted at one of the fields of the College of Agricultural Engineering Sciences - University of Baghdad. The experiment was implemented using factorial arrangement (4X3X3) within randomized complete block design with three replicates. Conocarpus fertilizer was represented the first factor with three levels (7.5, 15, 30 ton.ha-1), which symbolized (C2, C3, C4). Chemical fertilizer as recommended dose as a control, which symbolized (C1). The second factor was foliar spraying with three levels of iron (0, 100, 200 mg.L-1), which symbolized (F0, F1, F2). The third fact

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Publication Date
Fri Nov 03 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences( P-issn 1683 - 3597 E-issn 2521 - 3512)
Synthesis, Characterization, and Preliminary Antimicrobial Evaluation of New Schiff Bases and Mannich Bases of Isatin

Till now, isatin derivatives have received a lot of interest in organic and medicinal chemistry due to their significant biological and pharmacological activities. Schiff’s and Mannich bases of isatins are an effective group of heterocyclic derivatives that play a significant role in medicinal chemistry as antimicrobial agents. In light of these facts, new Schiff bases and Mannich bases of isatin were synthesized. The monomer Mannich bases; 3(a-e) have been synthesized by reacting isatin with different secondary amines, piperidine, morpholine, and pyrrolidine, dimethylamine, diphenylamine, separately, and formaldehyde, while the dimer (5) formed by using piperazine and formaldehyde which then react separately with Phenylhydrazine

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Publication Date
Sun Sep 06 2015
Journal Name
Baghdad Science Journal
Calculation of Radial Electron-Electron Distribution function and Expectation Values for Li-Atom in Excited States 1s 2p, 1s 3p and 1s 3d

The electron correlation for inter-shells (1s 2p), (1s 3p) and (1s 3d) was described by the inter-particle radial distribution function f(r12). It was evaluated for Li-atom in the different excited states (1s2 2p), (1s2 3p) and (1s2 3d) using Hartree-Fock approximation (HF). The inter particle expectation values for these shells were also evaluated. The calculations were performed using Mathcad 14 program.

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Publication Date
Fri Mar 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
Measure and evaluate the return and risk formulas of Islamic Finance: Empirical study of the state of Jordan Islamic Bank and Islamic Arab International Bank

    The study aims to measure and evaluate the return and the risk formulas of Islamic finance of Jordan during the period (2000 – 2009) according of increasing  importance of these banks in recent and coming years to face challenges to maximize returns and minimize risks through financing with  Islamic formula to investigate of existence statistical significant  relationship between returns and risking Islamic bank , has been use of financial other statistical  measurement. Measuring return and risk of Islamic banks have not been widely considered ,except in few descriptive studies . The controversy among academic and professionals about hot to measure and evaluate a comprehe

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Publication Date
Sun Apr 01 2018
Journal Name
Journal Of Educational And Psychological Researches
Problems and needs of Baghdad university students from perspective of college of political sciences and college of engineering’s students

The current research aims to identify the problems and needs for both college of political science and college of engineering’s students. The sample was (100) male and female student. The results showed bunch of problems which could be organized descendingly, the scientific domain ranged between (2 - 2.42), the mean of the psychological domain was (2.85), the moral domain ranged between (2.2 – 2.28)m the problems of study earned (2.30), the material domain got (1.95), the medical and social domain obtained (1.925), and finally, the family domain received (1.887).

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Publication Date
Sun May 26 2019
Journal Name
Iraqi Journal Of Science
Exact and Local Search Methods for Solving Travelling Salesman Problem with Practical Application

This paper investigates some exact and local search methods to solve the traveling salesman problem. The Branch and Bound technique (BABT) is proposed, as an exact method, with two models. In addition, the classical Genetic Algorithm (GA) and Simulated Annealing (SA) are discussed and applied as local search methods. To improve the performance of GA we propose two kinds of improvements for GA; the first is called improved GA (IGA) and the second is Hybrid GA (HGA).

The IGA gives best results than GA and SA, while the HGA is the best local search method for all within a reasonable time for 5 ≤ n ≤ 2000, where n is the number of visited cities. An effective method of reducing the size of the TSP matrix was proposed with

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Publication Date
Tue Jul 13 2021
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Germ cell tumor: A seven-year experience Children Welfare Teaching Hospital: Germ cell tumor; 7 years’ experience Children Welfare Teaching Hospital

Background: Germ cell tumors are a rare heterogeneous group of cancers with high cure rates in the pediatric age group.
Objectives: To study the clinical and pathological features in a group of patients with germ cell tumors and to evaluate their outcomes.
Patients and methods: A record review was undertaken on a group of patients with germ cell tumor who were admitted to the Children Welfare Teaching Hospital in Baghdad during the years 2009 - 2015. Information on gender, age, clinical signs, pathological findings, treatment and overall survival rate were reviewed.
Results: The patients had a mean age of 4.2 years (ranging from 1 month - 14 years). There were 45 girls and 16 boys. Abdominal pain was the most common presentation

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Publication Date
Sat Jul 01 2017
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
THE SPOTTED SANDGROUSE, PTEROCLES SENEGALLUS (LINNAEUS, 1771) AS A NEW HOST FOR THE SPIRURID NEMATODE HARTERTIA GALLINARUM (THEILER, 1919) IN IRAQ

    In this work, the spirurid nematode Hartertia gallinarum was reported in the intestine of the spotted sandgrouse, Pterocles senegallus, collected in three different locations: Ga'ara Depression, Iraqi Western Desert, Zurbatiyah and Al-Attariyah, Middle of Iraq. Description and measurements of the nematode were given. The role of termites in the infection of P. senegallus with H. gallinarum was discussed. Occurrence of H. gallinarum in P. senegallus represents a new host record.

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Publication Date
Fri Jul 01 2011
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
CONTRACAECUMRUDOLPHII HARTWICH, 1964 (NEMATODA: ANISAKIDAE) IN THE CORMORANT PHALACROCORAXCARBO (LINNAEUS, 1758) WINTERING IN BAGHDAD AREA: A NEW HOST RECORD IN IRAQ

The ascaroid nematode Contracaecum rudolphii was recovered in large numbers from the
digestive tract of Phalacrocorax carbo collected in Baghdad area, Central Iraq. The infection
rates of the two sexes of the bird and some meristic and morphometric characters of the
parasite that allowed species determination of the nematode Contracaecum rudolphii were
discussed. This finding represents a new host record for this nematode in Iraq.

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Publication Date
Wed Jun 29 2022
Journal Name
College Of Islamic Sciences
AYĀT AL-HUJJAH FĪ SŪRAT AL-ANĀM RIWĀIAH WA DERĀIAH ( a model in three verses from Surat Al-An’am 108-110)

 

The current research discusses the jurisprudence of the argumentative meaning in the Qur’an, and it is one of the general methods of responses in the Qur’an, as well as the argumentative approach to the recitations of the readers and directing their meanings. I have chosen a model for three verses from Surat Al-An’am, in which there are seven frequent recitations and seven odd ones, on a topic related to theology and faith; It forms the centerpiece of the argument verses in Surat Al-An'am; It contains the jurisprudence of dealing with infidels and dissenters, turning away and forbidding insulting what they claim besides God in the event of corruption, and God Almighty’s decree and wisdom in the occurrence of unbeli

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