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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
Tue Aug 31 2021
Journal Name
Iraqi Journal Of Science
Roles of IL-17A and IL-23 in the Pathogenesis of Ulcerative Colitis and Crohn’s Disease

     Inflammatory bowel disease (IBD) is a chronic inflammatory disorder,  the etiology and pathogenesis of which have been suggested to be influenced by cytokines. Two main clinical types of IBD are recognized, namely ulcerative colitis (UC) and Crohn's disease (CD). The present study examined serum levels of two cytokines (IL-17A and IL-23) in 60 IBD patients (30 UC and 30 CD) and 30 healthy controls. The levels were correlated with age, gender, cigarette-smoking status, disease duration, family history, disease extension, symptoms, extra-intestinal manifestations, and medication. The results depicted that IL-17A level was significantly higher in UC and CD patients compared to control (45.2 ± 23.3 and 47.5 ±

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Publication Date
Thu Oct 01 2009
Journal Name
Iraqi Journal Of Physics
Crystal Growth of Semiconductor CuAl0.4Ti0.6Se2 and studding the Structural Properties of its Alloy and Thin Film

Tetragonal compound CuAl0.4Ti0.6Se2 semiconductor has been prepared by
melting the elementary elements of high purity in evacuated quartz tube under low
pressure 10-2 mbar and temperature 1100 oC about 24 hr. Single crystal has been
growth from this compound using slowly cooled average between (1-2) C/hr , also
thin films have been prepared using thermal evaporation technique and vacuum 10-6
mbar at room temperature .The structural properties have been studied for the powder
of compound of CuAl0.4Ti0.6Se2u using X-ray diffraction (XRD) . The structure of the
compound showed chalcopyrite structure with unite cell of right tetragonal and
dimensions of a=11.1776 Ao ,c=5.5888 Ao .The structure of thin films showed

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Publication Date
Sun Jan 03 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Histopathological Changes of Experimental Hydatidosis in Liver and Spleen of Albino Mice: Age and Sex Effect

Background: A number of investigators have carried out experimental infections of hydatidosis, using albino mice as an experimental animal model, but there was disagreement on the effect of strain, sex and age of this model.
Materials and Methods: Two hundred and forty mice (120 males and 120 females) were injected intraperitoneally with a single dose of 2000 protoscolices (PSCs) /mouse at four ages (3-4, 7-8, 10 and 20 weeks). Each age group consisted of 60 mice (30 males and 30 females); in which 15 animals of each sex were the treated group, while the other 15 animals were a control group (injected with normal saline). Five animals from each age and sex were sacrificed at one, two and four month po sti

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Publication Date
Wed Mar 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Temperature and Nickel Concentration on the Electrical and Dielectric Properties of Polyethylene-Nickel Composites

The effect of temperature range from 298 K to 348 K and volume filler content ф on electrical properties of polyethylene PE filled with nickel Ni powders has been investigated. The volume electrical resistivity V  of such composites decreases suddenly by several orders of magnitude at a critical volume concentration (i.e. фc=14.27 Vol.%) ,whereas the dielectric constant   and the A.C electrical conductivity AC  of such composites increase suddenly at a critical volume concentration (i.e. фc=14.27 Vol.%).For volume filler content lower than percolation threshold ф<фc the resistivity decreases with increasing temperature, whereas the dielectric constant and the A.C electrical conductivity of

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Publication Date
Sun Apr 16 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Univariate and Multivariate Optimization of Spectrophotometric Determination of Europium (III) in Pure Form and Synthetic Sample

    Two different approaches, univariate and multivariate (simplex method), have been used to obtain the optimum conditions for the quantitative Spectrophotometric determination of Eu3+ using Solochrome violet RS (3-Hydroxy-4-(2-hydroxy phenyl azo) naphthalene -1sulfonic acid) (SVRS) as a chromogenic reagent. The investigation shows that Eu3+ ion forms a wine-red complex with SVRS in alkaline buffer solution having a maximum absorbance at 464 nm against reagent blank.       Calibration graphs obtained under univariate and simplex were found to be linear in the range of (0.30-8.0) µg/ml with detection limit 0.061µg/ml and molar absorptivity of 9877.66 L/mol.cm and (0.40-10.0)µg/ml with

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Publication Date
Thu Oct 20 2022
Journal Name
2022 International Symposium On Multidisciplinary Studies And Innovative Technologies (ismsit)
Effect of Gamma Radiation and Borax on Mechanical Properties of Polyvinyl Alcohol and Chitosan Blend Film

The creation and characterisation of biodegradable blend films based on chitosan and polyvinyl alcohol for application in a range of packaging is described. The compatibility between the chitosan and PVA polymers was good. Composite films had a compact and homogeneous structure, according to the morphology analysis. The mechanical test result of PVA/CH at concentrations 5% showed, that The higher values of TS recorded in sample (p1, with 40 MPa) while the lower values appeared in sample (p9, with 22.09 MPa), the TS decreased gradually as the amount of PVA increased in blend film. While the blend film of pure Chitosan exhibits a poor mechanical strength which makes it a poor candidate for packaging but Blending CH with PVA together improved

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Publication Date
Sun Sep 07 2008
Journal Name
Baghdad Science Journal
Synthesis and Characterization of New Fused Heterocyclic Compounds Consisting of Benzodiazepine, Quinoxaline, Benzimidazole and Thiazole Rings

In this study, new heterocyclic compounds were synthesized through the cyclization reactions of o-phenylenediamine (1) with various organic reagents. Benzodiazepine derivatives (2-4) were obtained by reaction of (1) with ethylacetoacetate, malonic acid and acetyl acetone.Treatment of compound (1) with chloroacetamide, chloroacetic acid, p-bromophenacyl bromide and oxalic acid dihydrate afforded quinoxaline derivatives (5-8), respectively. Reaction of compound (1) with benzoic acid, piperonal, cyclohexanone and carbon disulfide resulted in the formation of compounds (9-12), respectively. Finally, reaction of compound (12) with chloroacetic acid in the presence of potassium hydroxide produced compound (13).

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Publication Date
Sun Nov 20 2022
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
ISOLATION AND IDENTIFICATION OF BACTERIA THAT PRODUCE AMYLASE: ISOLATION AND IDENTIFICATION OF BACTERIA THAT PRODUCE AMYLASE

Thirty six bacteria were isolated from various sourcesc (soil, starch, cooked rice and other foods) and subjected to a series of primary screening tests to obtain the optimal isolation to production of amylase. The volume of producing zone by logal indicator for (Seven) isolates of the secondary screening by measuring the enzymatic activity and specific enzymatic activity. The isolate A4 was found to be the most efficient for production of amylase. Then this isolate was diagnosed through microscopic, vitek 2 system technique. in addition by gentic diagnesis through gene 16s of the genes nitrogen bases by use the polymerase chain reaction (PCR) which reached 1256 bases. In comparison to the available information at the National Center for

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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Synthesis and Spectroscopic Studies of Some transition metal Complexes with Mixed ligand of Metformin and Cysteine

Mixed ligand complexes of Cu(II), Ni(II) and Co(II) with metformin(MTF) as primary ligand and cysteine(Cys) as secondary ligand have been prepared and characterized by elemental analysis, atomic absorption, molar conductivity, magnetic susceptibility measurements, FTIR,UV-Vis ,1H-NMR and 13C-NMR spectral studies. The elemental analysis, atomic absorption data reveal the formation of [1:1:1] [M:MTF:Cys] complexes.The electronic spectra and magnetic moment measurements reveal the presence of complexes in an octahedral geometry and the molar conductivity studies of the complexes indicate their non-electrolytic nature. The infrared and NMR spectral were showed that the chelation behaviour of the ligands towards selected transition metal ions

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Publication Date
Fri Dec 29 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Extracts from Zygophyllum Fabago on Growth and Activity of Candida Albicans and Aspergillus Flavus

The study  was conducted to evaluate  the anti fungal activity of

water and alcohol ic  extracts (cold and  hot) and the crude alkaloid

extracts  of  leaves, seeds  and  roots  of  Zygophyllum  fabago  plant against a standard isolate of C. albicans and an isolate of A. jlavus which was proved to produce aflatoxins. Investigation of presence of active antimicrobial compounds in this plant parts was carried out, crude al kaloid extract was also separated using TLC technique. The antifungal activity of all these extracts was estimated against the two fungi.  Results showed  variation  in  anti fungal

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