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Anti-Disturbance Compensator Design for Unmanned Aerial Vehicle
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In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a proposed multi-objective Output Performance Index (OPI) is achieved in the MATLAB environment to tune the IADRCs parameters using Genetic Algorithm (GA). The IADRC has been tested for the 6-DOF quadrotor under different tracking scenarios, including disturbance rejection and uncertainties elimination and compared with nonlinear and linear PID controllers. The simulations showed the excellent performance of the proposed compensator against the controllers used in the comparison.

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Publication Date
Thu Oct 01 2015
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Serum Cystatin C as a Predictor of Acute Kidney Transplant Rejection
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Background: Accurate and rapid assessment of allograft function is essential. Cystatin C has recently been proposed as an alternative marker of glomerular filtration rate (GFR). Its diagnostic value for the longitudinal assessment of graft function has not been addressed well.
Objective: To study the validity of cystatin C as an early marker and predictor of acute transplant rejection in the first week post transplantation.
Subjects and Methods: Sixty six renal transplants recipients recruited. The study conducted in four renal transplantation centers in Baghdad for the period from September to December 2011. Serum creatinine and cystatin C concentrations measured 48 hours before transplantation and day 3 a

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Publication Date
Thu Dec 31 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Electronic payment methods used for salary resettlement and its impact on improving the mental image of customers: an applied study of the opinions of a sample of (private) commercial banks 'customers contracting with the Ministry of Higher Education and Scientific Research to localize employees' salaries
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The research seeks to identify the contemporary events that face the use of electronic payment methods to localize the salaries of state employees and its impact in enhancing the mental image of customers, and to achieve this purpose from the fact that a questionnaire was designed and distributed to an optional sample of (31) individual customers (employees) dealing With the researched private banks, it has been analyzed and reached a number of conclusions and recommendations, the most prominent of which is the lack of modernity of electronic payment methods by customers, which is reflected in the mental image of customers and the achievement of their satisfaction, in the Emiratization project for salaries needs an advanced leade

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Publication Date
Sat Apr 01 2023
Journal Name
Journal Of Environmental Accounting And Management
On the Food Chain Model with Sokol Howell Functional Response and Prey Refuge
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The cheif aim of the present investigation is to develop Leslie Gower type three species food chain model with prey refuge. The intra-specific competition among the predators is considered in the proposed model. Besides the logistic growth rate for the prey species, Sokol Howell functional response for predation is chosen for our model formulation. The behaviour of the model system thoroughly analyses near the biologically significant equilibria. The linear stability analysis of the equilibria is carried out in order to examine the response of the system. The present model system experiences Hopf bifurcation depending on the choice of suitable model parameters. Extensive numerical simulation reveals the validity of the proposed model.

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Publication Date
Sat Jan 30 2021
Journal Name
Iraqi Journal Of Science
Detection of Road Traffic Congestion Using V2V Communication Based on IoT
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Intelligent Transportation Systems (ITS) have been developed to improve the efficiency and safety of road transport by using new technologies for communication. Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) are a subset of ITS widely used to solve different issues associated with transportation in cities. Road traffic congestion is still the most significant problem that causes important economic and productivity damages, as well as increasing environmental effects. This paper introduces an early traffic congestion alert system in a vehicular network, using the internet of things (IoT) and fuzzy logic, for optimizing the traffic and increasing the flow. The proposed system detects critical driving conditions, or any emerge

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Publication Date
Sun May 01 2022
Journal Name
Journal Of Engineering
Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm
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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

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Publication Date
Sun May 01 2022
Journal Name
Journal Of Engineering
Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm
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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 slun

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Publication Date
Thu Oct 31 2024
Journal Name
Archive Of Mechanical Engineering
Computational analysis of SD7037 airfoil with plain flap
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The impact of a simple trailing-edge plain flap on the aerodynamics of the SD7037 airfoil have been studied in this paper using computational fluid dynamics at Reynolds number of 3×105 across various low angles of attack and flap deflection angles. The computational model was evaluated by using Star CCM+ software with κ--ω SST turbulence and gamma transition model to solve Navier-Stokes equations. The accuracy of the computational model has been confirmed through comparison with experimental data, showing a high level of agreement at low angles of attack. The findings revealed that specific combinations of angles of attack and flap deflection angles could increase the lift-to-drag ratio by over 70% compared to baseline conditions, benefi

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Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
Extended Eigenvalues and Eigenoperators of Some Weighted Shift Operators
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     A complex number  is called an extended eigenvalue for an operator  on a Hilbert space H if there exists a nonzero operator  such that: such  is called an extended eigenoperator corresponding to. The goal of this paper is to calculate extended eigenvalues and extended eigenoperators for the weighted unilateral (Forward   and Backward) shift operators. We also find an extended eigenvalues for weighted bilateral shift operator. Moreover, the closedness of extended eigenvalues for the weighted unilateral (Forward and Backward) shift operators under multiplication is proven.

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Publication Date
Sat Jan 01 2011
Journal Name
Journal Of Engineering
LOW COST AUTOMATIC SUN PATH TRACKING SYSTEM
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Solar tracking systems used are to increase the efficiency of the solar cells have attracted the attention of
researchers recently due to the fact that the attention has been directed to the renewable energy sources. Solar tracking systems are of two types, Maximum Power Point Tracking (MPPT) and sun path tracking. Both types are studied briefly in this paper and a simple low cost sun path tracking system is designed using simple commercially available component. Measurements have been made for comparison between fixed and tracking system. The results have shown that the tracking system is effective in the sense of relatively high output power increase and low cost.

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Publication Date
Sun Jun 05 2016
Journal Name
Baghdad Science Journal
Corrosion, Passivity and Pitting of Inconel (600) in Sulphuric Acid
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A potentiostatic study of the behaviour of Inconel (600) in molar sulphuric acid has been carried out over the temperature range 293-313 K. Values have been established for the potentials and current densities of the corrosion, active-passive transition, passivity and transpassive states. For corrosion, the current density (ic) and potential (Ec) have been determined from well-defined Tafel lines. The potential and current density prior to the commencement of passivity have been obtained corresponding respectively to the critical potential (Ecr( and to the current density (icr) for the active-passive transition state. The passive range was defined by the respective potentials and current densities for passive film formation and dissolutio

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