Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order  PI^aD^b (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to  torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of

An adaptive nonlinear neural controller to reduce the nonlinear flutter in 2-D wing is proposed in the paper. The nonlinearities in the system come from the quasi steady aerodynamic model and torsional spring in pitch direction. Time domain simulations are used to examine the dynamic aero elastic instabilities of the system (e.g. the onset of flutter and limit cycle oscillation, LCO). The structure of the controller consists of two models :the modified Elman neural network (MENN) and the feed forward multi-layer Perceptron (MLP). The MENN model is trained with off-line and on-line stages to guarantee that the outputs of the model accurately represent the plunge and pitch motion of the wing and this neural model acts as the identifier. Th

In this paper, experimental study has been done for temperature distribution in space conditioned with Ventilation Hollow Core Slab (TermoDeck) system. The experiments were carried out on a model room with dimensions of (1m 1.2m 1m) that was built according to a suitable scale factor of (1/4). The temperature distributions was measured by 59 thermocouples fixed in several locations in the test room. Two cases were considered in this work,  the first one during unoccupied period at night time (without external load) and the other at day period with external load of 800W/m² according to solar heat gain calculations during summer season in Iraq. All results confirm the use of TermoDeck system for ventilation and cooling/heat

In this paper, we study the impacts of variable viscosity , heat and mass transfer on magneto hydrodynamic (MHD) peristaltic flow in a asymmetric tapered inclined channel with porous medium . The viscosity is considered as a function of temperature. The slip conditions at the walls were taken into consideration. Small
Reynolds number and the long wavelength approximations were used to simplify the governing equations. A comparison between the two velocities in cases of slip and no-slip was plotted. It was observed that the behavior of the velocity differed in the two applied models for some parameters. Mathematica software was used to estimate the exact solutions of temperature and concentration profiles. The resolution of the equatio

This study was conducted to determine the fungal cause and bio control of damping off and root rot of wheat plants by using pseudomonas fluorescens under greenhouse and field conditions. Results showed isolation of eight species from the soil and roots to deferent region of Baghdad government. Rhizoctonia solani (Rs) and Fusarium solani (Fs) were the predominant damping off fungus with frequency 60 and 52% respectively. Led the using of bacteria formulations such as crud suspension , pure bacteria filtration and pure living cells in culture medium inhibit all type fungi with rates ranging from 84-96% , 80- 93% and 75-88% respectively. Rs and Fs were more pathogenesis under greenhouse conditions, with incidence of 80 and 68% and disease s

Field experimented were examined the effects of Piper nigrum and Urtica dioica extracts on the gray mold disease in tomato that caused by Botrytis cinerea. To evaluate the inducing resistance of these extracts, many treatments were sprayed on tomato leaves, including methanolic and aquatic extracts, Silver nano particles biosynthesis (AgNPs) and water as (control).

The results indicated that the resistance of tomato plants was increased when tomato plant sprayed first with Methanolic P. nigrum extracts and after 4 hours sprayed with B. cinerea. Also, spraying with methanolic and aquatic AgNPs P. nigrum extract were reduced gray mold disease. These results were showed that

In this study negative result of real-time reverse transcription-QPCR (RT-PCR) assay
tests of Influenza virus of nasal screetion and throat swap samples of Iraqi patients
hospitalized with signs and symptoms of an upper respiratory tract infection in Central
Republic Health Laboratory in Iraq were tested for Respiratory Syncytial Virus
infection by RT PCR .Positive samples was 4 out 0f 20 were used .Viral isolation was
done on a monolayer of 70-80% confluent Human Lung Carcinoma Cells (A549) cell
line and incubated at 33ºC for 4 days .Syncytia was observed in 3 positive samples.

This study was carried out in the botanical garden / department of biology /college of science in Mustansiriyah University, Baghdad. During spring 2017 under controlled environmental conditions in greenhouse to study the role of Nano ZrO₂ activity in decrease negative effect of salinity under two levels from NaCl . The treatments included (Salinity levels : natural soil , 3000 ppm and 6000 ppm NaCl) and ( Applications : control , 100 , 300 Zirconium oxide , 5 ppm of liquorice root extract and 10 ppm liquorice root extract   and 300 ppm GA3) , The collected data were analyzed statistically using factorial completely randomized design.   The results appeared  that 300 ppm nano zirconium gave the highest

This study calculated the surface roughness length (Z_o), zero-displacement length (Z_d) and height of the roughness elements (Z_H) using GIS applications. The practical benefit of this study is to classify the development of Baghdad, choose the appropriate places for installing wind turbines, improve urban planning, find rates of turbulence, pollution and others. The surface roughness length (Z_o) of Baghdad city was estimated based on the data of the wind speed obtained from an automatic weather station installed at Al-Mustansiriyah University, the data of the satellite images digital elevation model (DEM), and the digital surface model (DSM), utilizing Remote Sensing Techniques. The study area w

Background: Astrocytoma, is heterogeneous tumor of the nervous system and studies on the virulence of these tumors reveal that their behavior is led by small population of cells which are the brain tumor stem cells (BTSCs) that drive the continuous proliferation and self-renewal. From the many markers that annotate BTSCs, are the CD133, and NESTIN.

Objectives: Using CD133, to immunolabel BTSCs niches in paraffin sections of astrocytoma then, extraction of these cells, to calculate fold expression of NESTIN gene across the grades by real time PCR.

Materials and methods: Paraffin blocks of four grades of primary astrocytoma have been selected from three age groups from Iraq