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A Nonlinear MIMO-PID Neural Controller Design for Vehicle Lateral Dynamics model based on Modified Elman Neural Network
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This paper presents a new design of a nonlinear multi-input multi-output PID neural controller of the active brake steering force and the active front steering angle for a 2-DOF vehicle model based on modified Elman recurrent neural. The goal of this work is to achieve the stability and to improve the vehicle dynamic’s performance through achieving the desired yaw rate and reducing the lateral velocity of the vehicle in a minimum time period for preventing the vehicle from slipping out the road curvature by using two active control actions: the front steering angle and the brake steering force. Bacterial forging optimization algorithm is used to adjust the parameters weights of the proposed controller. Simulation results based Maltab package show the control methodology has effectiveness performance in terms of the excellent dynamic behavior of the vehicle model by minimizing the tracking error and smoothness control signals without saturation state obtained, especially when adding a bounded external disturbances to the vehicle model.

 

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Publication Date
Fri Mar 06 2026
Journal Name
Journal Of Baghdad College Of Dentistry
A Comparative Study of Clinicopathological and Immunohistochemical Expression of CD1a, RANK and RANKL in Langerhans Cell Histiocytosis of Jaw and Skull Lesions
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Background: Langerhans' cell histiocytosis (LCH) is a group of conditions affecting the reticuloendothelial system. It includes Letterer-Siwe disease, Hand-Schuller-Christian disease and eosinophilic granuloma and most often presents in childhood. Materials and methods: Twenty-five cases of LCH were diagnosed histologically and confirmed by CD1a antibody and assessed immunohistochemically using anti-RANKL and anti-RANK antibodies to evaluate osteoclastogenic mechanism. Results: Regarding jaw cases, there was a significant correlation between CD1a and RANK (P=0.016). While in the skull, highly significant correlation existed between RANK and RANKL (p=0.001). Among the sites, there was no statistically significant difference found for each

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Publication Date
Fri Oct 06 2023
Journal Name
Journal Of Electrochemical Science And Engineering
Zinc (II) removal from simulated wastewater by electro-membrane extraction approach: Adopting an electrolysis cell with a flat sheet supported liquid membrane
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The aim of this study is to utilize the electromembrane extraction (EME) system as a manner for effective removal of zinc from aqueous solutions. A novel and distinctive electrochemical cell design was adopted consisting of two glass chambers, a supported liquid membrane (SLM) housing a polypropylene flat membrane infused with 1-octanol and a carrier. Two electrodes were used, a graphite as anode and a stainless steel as cathode. A comprehensive examination of several influential factors including the choice of carrier, the applied voltage magnitude, the initial pH of the donor solution, and the initial concentration of zinc was performed, all in a concerted effort to ascertain their respective impacts on the efficiency of zinc elim

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Publication Date
Mon May 01 2023
Journal Name
Human Gene
The G allele of the ADAM33 T1 polymorphism (rs2280091) is a risk factor associated with asthma severity among the Iraqi Arab population
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Background: The gene encoding a disintegrin and metalloproteinase domain 33 (ADAM33) is known to be associated with asthma in different ethnic groups. In Iraq, among the Arab ethnic background, this association has not yet been highlighted. Methods: One hundred and ninety-two asthmatics were examined; 118 males and 74 females (mean age 38.23 ± 9.13 years). The control group was 183; 110 males and the rest were females. The SNP of rs2280091 A/G (T1) was studied here to determine adam33 genotyping status using polymerase chain reaction–restriction fragment length polymorphism (PCR–RFLP). The level of total IgE was measured using enzyme-linked immunosorbent assay (ELISA). Results: Significant differences (p = 0.004) in the frequencies of

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Publication Date
Tue Jan 01 2019
Journal Name
Plant Archives
Evaluation of water stress effect on some chemical properties of several sunflower varieties callus treated with colocynth fruit extract
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The study was carried out in plant tissue culture laboratory, University of Baghdad during the period 2017-2019, as factorial experiment in complete randomized design, to study the effect of PEG at (0, 2, 4, 6 and 8%) on physiological and chemical changes in callus of three sunflower (Ishaqi 1, Aqmar and Al-haga) induced by the cultivation of the young stem in vitro under water stress. The content of callus cells of SOD, POD, CAT and APX enzymes as well as total dissolved carbohydrate were determined as indicators to determine the effect of PEG in callus tissue cells cultivated on medium equipped with the PEG concentrations. The results showed that cultivars were differs significantly, and A-haja variety was superior in increasing SOD to 12

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Publication Date
Thu May 03 2018
Journal Name
Online Journal Of Veterinary Research
Effect of Cutibacterium acnes cell free antigen (CFAg) immunization, levofloxacin and cinnamon oil on Cutibacterium acnes infection in rabbits
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Tuaimah GS, AQ Al-Awadi, Ahmed ME., Effect of Cutibacterium acnes cell free antigen (CFAg) immunization, levofloxacin and cinnamon oil on Cutibacterium acnes infection in rabbits, Onl J Vet Res., 22 (9):811-822, 2018. C. acnes causes acne vulgaris most commonly in 12-24 year olds. Five albino rabbits were immunized at day 1 and 14 with Cutibacterium acnes cell free antigen (CFAg) and then infected intradermally with 0.1 ml C. acnes suspension (2×108 cfu/ml) at day 30. Two groups of five infected rabbits were then treated at Day 30 with 0.5% levofloxacin or 0.2% cinnamon oil twice daily for 12 days. Five control rabbits were infected intradermally with 0.1 ml 2×108 cfu/ml Cutibacterium acnes n (2×108 cfu/ml). At day 42, skin test (mm), se

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Publication Date
Fri Mar 06 2026
Journal Name
Journal Of Baghdad College Of Dentistry
Effect of sodium fluoride on the properties of acrylic resin denture base material subjected to long-term water immersion
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Background: Fluoridated acrylic resin material can present more stable properties when compared with conventional one.The most widely used fluoride –containing substance added to dental resin materials is sodium fluoride (Naf). This study evaluated the effect of Naf in different concentration to the acrylic resin denture base material and its effect on tensile strength ,modules of elasticity with long –term water immersion (after 4 months immersion in de-ionized water) Materials and methods: Eighty specimens from dumbbells shaped metal pattern for tensile strength test were preparedaccording to ISO 527: 1993 plastic –Determination tensile properties ,in dimensions(60mm, 12mm, 3 ± 0.2mm) length, width and depth respec

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Publication Date
Tue Jan 01 2019
Journal Name
Indian Journal Of Public Health Research & Development
Effect of Sponge Cylinder Exercises on The Rubber of Working Muscles to Perform Human Wheel Skill in Technical Gymnastics
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Publication Date
Sun Jun 06 2010
Journal Name
Baghdad Science Journal
Effect of Chromium on Growth of green ALGA SCENEDESMUS QUADR ICAUDA (TURP.) DE BERB. With increase of nitrogen concentration
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The study was conducted to identify the toxicity of chromium on scenedesmus quadricauda algae alone and in the presence of nutrient metal (Nitrogen). Different concentrations of chromium (0.5, 1.5 , 2.5, 3.5 , 4.5mg/L) were used and the presence nitrogen is (5 ,10 ,50 ,100mg/L) on cultur media(chu-10) with used for cultivation of the algae in controlled conditions(25oC , light intensity 380 –?E/m2 /s. The results showed increasing in the toxicity of the metal when is alone , excess of concentrations an time of exposure. The growth rate decreased from 0.44 to 0.06 cell/ hour after 12 day of the biging of the experiment and of concentrate 4.5 mg/L of chromium. The intermediate active concentrations of the chromium(EC50) was increase

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Publication Date
Fri Mar 06 2026
Journal Name
Retos: Nuevas Tendencias En Educación Física, Deporte Y Recreación, Issn-e 1988-2041, Issn 1579-1726, Nº. 63, 2025, Págs. 979-989
The effects of the integrative strategy on fostering reflective thinking and imparting basic basketball offensive techniques to female students
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Autorías: Nadeema Badr Mohammed, Missaa Nadem, Huda Badwe Shbeeb, Iqbal Abdul Hussein Neamah, Najlaa Abbas AL Zuhairi, Nihad Mohammed Alwan. Localización: Retos: nuevas tendencias en educación física, deporte y recreación. Nº. 63, 2025. Artículo de Revista en Dialnet.

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Publication Date
Tue Aug 15 2017
Journal Name
Journal Of Immunology
The Effect of Inhibitory Signals on the Priming of Drug Hapten–Specific T Cells That Express Distinct Vβ Receptors
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Abstract<p>Drug hypersensitivity involves the activation of T cells in an HLA allele–restricted manner. Because the majority of individuals who carry HLA risk alleles do not develop hypersensitivity, other parameters must control development of the drug-specific T cell response. Thus, we have used a T cell–priming assay and nitroso sulfamethoxazole (SMX-NO) as a model Ag to investigate the activation of specific TCR Vβ subtypes, the impact of programmed death -1 (PD-1), CTL-associated protein 4 (CTLA4), and T cell Ig and mucin domain protein-3 (TIM-3) coinhibitory signaling on activation of naive and memory T cells, and the ability of regulatory T cells (Tregs) to prevent responses. An expa</p> ... Show More
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